adhoc

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}

{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.606, -0.3782, -0.0227, -0.0296, 0.9996, -0.0181, 0.7937, 0.6033, -0.3779, -0.0154, -0.0334, 0.9974]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1809 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.295 right_y=0.001 right_z=0.1802 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.4171, -1.5932, 9.935, 1.7509, -0.0611, 0.105, -0.0611, -0.5128, -1.4838, 10.1538, 1.9023, -0.0611, 0.1538, -0.2857]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56bb43c799e5dc09a0de2f31aaf68ff9132d6b9f88c9717327b4812919dfe65d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eefaba8e6b48864caa3db01070e23cee680c98fb0f3f387d1978bff77b58213a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6365c98cc1beee4a62bf00c1b95e58d5968c9c1126802847041d85411ed86c94",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_0370765beff4ab05016ab4913da71c87d0a32ff867a116a0f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.16,\"left_z\":0.16,\"left_gripper\":1},\"note\":\"I see three upright bowls in a row. I’ll approach the left bowl and use a rim grasp to place it inside the middle bowl.\"}",
  "call_id": "call_7YlaKUEBqMuvkqiM8aJP709r",
  "id": "fc_0370765beff4ab05016ab4914362b487d0a4bbd026bcb351d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7YlaKUEBqMuvkqiM8aJP709r",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5747, 1.4918, 0.9077, -0.1314, -0.4618, -0.3496, 0.9996, -0.0208, 0.8005, 0.6056, -0.3889, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.388 left_y=-0.1532 left_z=0.1406 left_yaw=-0.0181 left_pitch=-0.0605 left_roll=0.0282 left_gripper=0.9996 right_x=0.2942 right_y=0.0002 right_z=0.1771 right_yaw=-0.0026 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -7.0222, 9.0462, 1.7802, -0.315, -0.1099, -0.0611, 0.1709, -1.7436, 6.9128, 1.8632, -0.0464, -0.0659, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cb540476295fc01a7be98162b881836843dcca36f548f62c47568b1f0291a76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b8e516daec9e358cefd808fb48145206c0b51388b89ee3826fad1c12ddb715",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed895bbf461410b1d37468257d21aa6ea04f63707bffeb02f722ec63e9d00f3f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.606, -0.3782, -0.0227, -0.0296, 0.9996, -0.0181, 0.7937, 0.6033, -0.3779, -0.0154, -0.0334, 0.9974]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1809 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.295 right_y=0.001 right_z=0.1802 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.4171, -1.5932, 9.935, 1.7509, -0.0611, 0.105, -0.0611, -0.5128, -1.4838, 10.1538, 1.9023, -0.0611, 0.1538, -0.2857]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5747, 1.4918, 0.9077, -0.1314, -0.4618, -0.3496, 0.9996, -0.0208, 0.8005, 0.6056, -0.3889, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.388 left_y=-0.1532 left_z=0.1406 left_yaw=-0.0181 left_pitch=-0.0605 left_roll=0.0282 left_gripper=0.9996 right_x=0.2942 right_y=0.0002 right_z=0.1771 right_yaw=-0.0026 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -7.0222, 9.0462, 1.7802, -0.315, -0.1099, -0.0611, 0.1709, -1.7436, 6.9128, 1.8632, -0.0464, -0.0659, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cb540476295fc01a7be98162b881836843dcca36f548f62c47568b1f0291a76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b8e516daec9e358cefd808fb48145206c0b51388b89ee3826fad1c12ddb715",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed895bbf461410b1d37468257d21aa6ea04f63707bffeb02f722ec63e9d00f3f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJFNngbjy002IddX8zj7I302hg-mUb9VYVwsdGbxwp-HY54-0B_1NRUAsCVuGOX6blywFUpt2LCN9iEn5UyBPXZ4v99fWFgtTiVHwcrgdDvxJjLIzrVuZ3SfYZs5Q0v0_UuAa8xGA2FMY9sxGnc9NjlfxEXFq3oeCMzfzc-BEE8vKeQRqj0mccxYfV8MWerCIS0zALhHr0JAPKpyd4bNEeveuzw3eqFXD85ozFQr_BBYs7UXcKQevdulvbdvlXdhJuc481kw8vANXEsHDuKGgELigWM4Bgi-Z62Tutx18dPVdf7-qGR1wIA4ywb675eNCLo9cEbQZ09KKsk3pih71O8k6Hcjlh-MOSHQ0ne5cCThkf2xOsGzobf280E0bZRkL7HBMm2ne6gam73TRq6NSfCc_HAkXBB_xKvuKoucSnrR9198-2c_1tEobwbIVJs-svjK6td_OdaOMj6B4pMPL8IsII8QxNrirgZGq3D6KXklD-DD1SJykPdwRYikSXeAr45iX_uzAH4mnYMWynJBsnxVj_izePZBjfssUsv7J-dW6b8J2ocq_Z88zsaB47Gs7ey0xWKqG--6z-7hIFtPgQpea8QOGkGi6lvIBAljMgp51tSx-KCCZfaWBfmTlruee0mSNyrL9PIwgmwAaOwC9GE4Bgbf_XctKVaWqaUkUJqiSM9U9p2smVz5feweEmZi1bI4X_W_COO2ATSxpbOiwnYSZsHuEi-HVsVYbPcIJQXMyzZ6ryD9Js7VAVUoU_D8BvE7E222LYmX8aIXEWLC-XY727z2BpRJ9KdlAujjETDiAdY3rKXRUnm-SzZSPd7Kbpp4Pc_dO086RBfgqC4zLOjQspkexUa8xKizmZJRtB-zn9FyNC6RV9pZJ1hRcif1gBDqOBPrUP5RZmPVXG5xsLx9_AUVfdy6Z4CQNlLWxIot-k-8nmrG0bWAcQIwdaOnWfcvoigh8KfIkMr1j2zWPEOL8htkyoLTthElHl_KeT2to-41wD6ajoh9yGEhUZ_vQNq6ozlJiYdlp2aKm1ZwmrMus58pzTXKAgnER7F7hqko3pMlZjSYwI81gPv0hJVPBOvUJ2Fp_KreUFeKxIS6_B57TozExV0oGDUYiSvFJME77ij_A6f-oUJey0iWl84cOkHfwF7nZ3w2Qtyic8Kpko9uPhmCqhiUl6HkPaxAZ0Xp4sSkwkVCxrsaPAbh_JPIXIMxlYYNHCozcAKZTyvN38ET_A1u718Uqf-MpyCUUNBk-bOEB9PIzIB5zbV5Z47Jxdi6LqR7Ax_SNtZActr0zkgm_N0slyqgZdIXpBRh50oCTh-HyhIMnylrdCWwijl0qh2kLXBV7zBJRka3HpgZDGWAWQCwmWVuPKu9m4Y14_qNXOwSo5ppckGrDbXKtmyKOaPVrAsCGtAhsTl8mQQqXI9JF9fUAlcbvpbLNpp5vtKfr2qzmcN0dVMsTN01Ro3oEDmCUGZq9YOUlU-pUpbGMKeYcy6DWLZB5sYWqk-eyeAxmA3G33JU8KnCii4clHKPJ-9KwWg19l0HDRBSFGN2JLmstDxMHnXQYCX0k-3nrUOOduAhk-bkygx_KuVuHKq3tFJWwKpo8RyHT8CbruEaZ28MIsXfPx1xecrra9HgfUl_whxVbnY0Has-guSRNrgQITvcAE6CeD7qhdUKiIGGg0a3E1PWq1y2_tBUM5-9zNDVI8_bJez4b6CKiD-nKh-c_cDXApmi6t77bzt4lGYdB4uLdTKn3uPEvoo9bnY-8YOxIGVqt3mK9Wqg6YEshM9fqm_0-Tock7-ifmXJ1FRvJPAeSqWdAoDfs0YApt7QC9ASAGNFbJLGsA5-__W2WIWSHpUluAj1_A96UVQBWqP97AZ08kIlruI1M-v0IeBD_H95VzLx2Gi9By6YMb9vlmjxvVsmezRJ9RyGlYrzSzo3EQXWM-_zlo6erqMjLRgkqbrSgEUe651Foz1GPeqcmzUZHxLGxsfiXe2LIsbdec0VxzjpoVfFOjF7W2SUQA-v5u_Maa8c2Fcfd7-gl3hG3nwCdpZch-QJIHgmFhzlyLhTWDOEGvBebB3LXVbUABbPE3eiWZBaXhwfRugpusg35HNuFPLf4j6x30rUqB6WYNMim3rE2gVHaGcNMnmvXWjJq40M6XMZWIv-fixjqEl3ID8tLBAtgk2Vv3pHygxrcSBmQ4Q-w7TkQw6ytozSBS9iCUGs6auiBeWAWy-DUeulqNs2lXq6OThjnesl4_L6V6jXtN5d-BEvtop3AqXfuaO8kjbQ4W0jRJOgCTrUG2QLKcG4Z_IknLJuDkiTDBv48lqtpKfLpFLRf1vu6R4GXLzz1VhdH_weFRf9F0AODmfeeTU70KbJ_3qlGKgqC4oYWXoMKRFSD2ixzSw1sWwW4UTxENVgUI_1AdSZPSQf9eoa8_LJzWOynJCXoz7QvS4s1ihavBqFZDzsXZ3rjn6eiijUj73nbJAUoZSUqeSQV-ZrQEIDI6kpID00aomM23TqLwa-ZkVzfHeFuwpB1cbVuJLu5ghaDgmeQwkXVVpsBWmqSRXgIFjM",
  "id": "rs_0370765beff4ab05016ab49146f55087d0ac2be27ba5b2f0bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.105,\"left_z\":0.075},\"note\":\"The left bowl is partly below the wrist-camera view. I’m moving toward its left rim and lowering carefully so the jaws can straddle the rim rather than the full bowl.\"}",
  "call_id": "call_5YS7Scrux0srfkd6zMgTmIa9",
  "id": "fc_0370765beff4ab05016ab4914c319887d09b90edfb8cc9b18a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5YS7Scrux0srfkd6zMgTmIa9",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4187, 1.5703, 0.7002, 0.1192, -0.366, -0.2691, 0.9995, -0.0216, 0.804, 0.6056, -0.3927, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3886 left_y=-0.0998 left_z=0.0672 left_yaw=0.0197 left_pitch=-0.1245 left_roll=0.0525 left_gripper=0.9995 right_x=0.2939 right_y=-0.0 right_z=0.1753 right_yaw=-0.0034 right_pitch=-0.0229 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [0.4581, -6.0786, 6.106, 1.7802, -0.1294, 0.1392, -0.0171, 0.0342, -1.5932, 7.0359, 1.7314, -0.0073, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:923d8c8aeff0f8104a041997bf80caa183093590f6ca95484c8bfe9da20100db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5f3f08f8e34ec68d45be4ef197434f29fd6b46f535012f5cdf90474f1e4151",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:120103f1184963ce8edeafdd15a3474c75ce98177b3ee238a4b1e2b62e61cfc9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5747, 1.4918, 0.9077, -0.1314, -0.4618, -0.3496, 0.9996, -0.0208, 0.8005, 0.6056, -0.3889, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.388 left_y=-0.1532 left_z=0.1406 left_yaw=-0.0181 left_pitch=-0.0605 left_roll=0.0282 left_gripper=0.9996 right_x=0.2942 right_y=0.0002 right_z=0.1771 right_yaw=-0.0026 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -7.0222, 9.0462, 1.7802, -0.315, -0.1099, -0.0611, 0.1709, -1.7436, 6.9128, 1.8632, -0.0464, -0.0659, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4187, 1.5703, 0.7002, 0.1192, -0.366, -0.2691, 0.9995, -0.0216, 0.804, 0.6056, -0.3927, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3886 left_y=-0.0998 left_z=0.0672 left_yaw=0.0197 left_pitch=-0.1245 left_roll=0.0525 left_gripper=0.9995 right_x=0.2939 right_y=-0.0 right_z=0.1753 right_yaw=-0.0034 right_pitch=-0.0229 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [0.4581, -6.0786, 6.106, 1.7802, -0.1294, 0.1392, -0.0171, 0.0342, -1.5932, 7.0359, 1.7314, -0.0073, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:923d8c8aeff0f8104a041997bf80caa183093590f6ca95484c8bfe9da20100db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5f3f08f8e34ec68d45be4ef197434f29fd6b46f535012f5cdf90474f1e4151",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:120103f1184963ce8edeafdd15a3474c75ce98177b3ee238a4b1e2b62e61cfc9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJFTl1NLGcKC0kKBEbTO5EC2-c93LIoG7wg7ANmB503zCuqZBCXmgrHY23LjN_MXHmCJf3nXkR7Svg3pWMZNQfd3j2o87DwYe75Hv0ay7Zi-r4sxpn2qkBM8xWSisjjIOOdGSXOGn8QkL6NdgxOqwDisFmYAgBi91V9-SPtCDC6DT8Y29BjZS5Mb_Cz0uGVYOY4jb_ORzWAYwASTcp8oxSUDCP3UsPVT2a15bpfNHZA-vkeiqruKlkBJ9DBZWy4ZG6hKygKKP6beS6rrzIxiICsGE7CwBpviWQq4XDQFPe8_W5SItWPhLXtqW97Ly-I3n0GbPr3FBUetwLfzPpB4eqTo63gWiH3Mfembu5W1m4jWzotKPSfXaKwim-FWm1lY5HJG4slISyM4rclVPg897EY_GorMIoNiZUfRY4xRQMzCjn9EFvrYsC28xL-yGwsbNsK3lqrEkmln-YImv0s5V-D52ddeVKUJ6FiGJUx8_SLGGYZ9K4VEJY_layGrRLLWMk2OppMY6Tm0tS5W0cPxOBJfmfNmuuaKpik9jb_QnQsjsQ-fb2qtXqwT1DsQ0GAIecIAJABoy0bAREtWW9UYC0gT18FLnEaNj5-2nq6TAs6cvQf6txyqpqyAxCyXRT0ZV5ebIu8s2goOZNkG0zOJz0m1kdgzArc7BJCYyfQW5GwOsJSI3yO7y-Jw3NBbvDYpCQ27Q_OehuoIwqU3komJRoBvboUsLe0gEub5SfxgmYZcyAxJT8ynzwddDR13MqubuctOp0ZjDqtqXUNuQRoTURFGu9rkN6x0YoATU76S83nBaLr7U1-x0BtprzBvt6g178ePuAHwExrbcxJLYSPGnncR-YDsqG2HoFvEadJTuceSZzFVf9z7MdHU7Sk0gjldTJ5UONhNkVd0g8b17xWkz4GibsUgtWinBaMv8arMm4DGlqDMrDeAQ4_zlIaIFv5c8TgHzmRkhxXxwQU9JWMa-IVsGHm2SmtcYQO6Nr8UxAUd8iYj-uPTPDaPnAls-IKpswjM4NiF53lFk99AneixbW6QEIjBIejbi_AO1Qg07PPC7oJCL5X6GSmZk4815qIQaRdIRHzUCiq5WbGAlQM5vEaPds_UZgqp9P2Z9FdgXEjSEKfypWi-khagRiJcApFJT3Nxtfb16YBwMRnmX2i_4HHlQOC1w9-UuswUBz_EWK_VoxaE_AouXIE3TZziz-OrVX_SPPYvgGA7AMw_bTvUw2FV1McFHJUZHl5szvvzr2HOxXUI9xRfoQMs93jEh11sWGya_s2YFk9JAEV9iEZj7RGP07oR2Me_sAKZ1ddPpJ8K_xjGdTlBQGRjH0FCDaWphsI9xiQadCvutRsZxjmCQuZNFNhFeMdmpU10Zlwnt0mZYYxVdz55SUQW2Jd7mMLspYmLQ12ySD6LO2H6_tDG5DPUI1sHMxc3YbWMdQvxql9b8HCv42hShVVZpZpRfZyCVAWG35uUSHUqSkUE-8ipRj7bJHQhCtGKnzJCyxfloYUDnU4FwTD6b79Lv9MGhntk8yKh7mimMTfN-dQtn9gGAjhNnbwmBglQE3CpkGdJJKd_Cc_JQTCR74NQTKejHWl2sr_Ujnhzww7FP4Qtyby5Rpsj-Og7LvIAcCCrft-wrLK7gVWdkcdC7amMUyU_OB5x_0VcoR-xtvZJQfqarNC4qY8qZVuDkCgQdgn5UVhnZ8uyB22b04JaLor7-y3C4MMnEPLoRsN8cdWMt9m0rCC7eeAhEiCE5kTixeCpjw8WNwMMWi7ULXp8L8ZfFXMOJTCl-Le9L4UE7nU2YSLKDXHTmv_QtnBW8rHnqLreHt1j9Yt_dy--rUu3DmRjES_tsJ3t-_6oMohmRpwPlcbIzZSBF48njOaYgS7loDabr6SfjgE-jgTmLvKd0T16LgN44kWgMh3VVKttZxn7FIgdjF_B8YykipNJ7Nwbnczou0Xa9WAIG3UqMhwVJa1WpP-W_RPZXEmxC-ybr4GQmklXe6Ap2_Aw6YpFenhj86AqhtModIXUWRJTBXSw-3--MCsBL02ziw5j1eHA43e0ylLTuxrDpUrO59l97xJjde9N0j29cW_TGt2EGd5nJzNTlrLbeaHVAOk1PvETCED4qhWn1scphoqtXwQBCEX9PEzhNSH-pGrZurF-U_WeSl6-ySGVx6HvVij_2v0eLsK4CJBbmZQUR6XPOxsIFpFshfuBJrg88Wv0idqEU57I8p_C0_nOGKFMqoAB",
  "id": "rs_0370765beff4ab05016ab4914ef14087d0a686982ca65d336e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.065,\"left_z\":0.025},\"note\":\"The bowl is still upright, with its left wall just to the left of the jaw centre. I’ll bring that wall between the jaws and descend to rim-grasp height.\"}",
  "call_id": "call_lci6ZC7GnKpyBDY4zmQyPjdk",
  "id": "fc_0370765beff4ab05016ab49152ad4c87d0a872513234d5a6d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lci6ZC7GnKpyBDY4zmQyPjdk",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2935, 1.7039, 0.638, 0.2943, -0.2909, -0.2054, 0.9995, -0.0216, 0.8051, 0.6056, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3964 left_y=-0.0631 left_z=0.0216 left_yaw=0.05 left_pitch=-0.1656 left_roll=0.0607 left_gripper=0.9995 right_x=0.2939 right_y=-0.0 right_z=0.1749 right_yaw=-0.0034 right_pitch=-0.0244 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [0.1709, -7.0359, 5.4632, 1.8828, -0.1587, 0.0904, -0.0122, -0.0342, -1.4017, 7.0632, 1.7656, -0.0464, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad26d17f07567da5cdef61ff93d21899e9ca51df764c41d645ec695b0ebf45b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2477bc3410be9290386f07c280e746b9413c845664d130a1caab3321670e90bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d959372df7f1f2afd21120bf960ef71953c79b65d14ae882feb882b0b601704f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.606, -0.3782, -0.0227, -0.0296, 0.9996, -0.0181, 0.7937, 0.6033, -0.3779, -0.0154, -0.0334, 0.9974]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1809 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.295 right_y=0.001 right_z=0.1802 right_yaw=-0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.4171, -1.5932, 9.935, 1.7509, -0.0611, 0.105, -0.0611, -0.5128, -1.4838, 10.1538, 1.9023, -0.0611, 0.1538, -0.2857]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4187, 1.5703, 0.7002, 0.1192, -0.366, -0.2691, 0.9995, -0.0216, 0.804, 0.6056, -0.3927, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3886 left_y=-0.0998 left_z=0.0672 left_yaw=0.0197 left_pitch=-0.1245 left_roll=0.0525 left_gripper=0.9995 right_x=0.2939 right_y=-0.0 right_z=0.1753 right_yaw=-0.0034 right_pitch=-0.0229 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [0.4581, -6.0786, 6.106, 1.7802, -0.1294, 0.1392, -0.0171, 0.0342, -1.5932, 7.0359, 1.7314, -0.0073, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2935, 1.7039, 0.638, 0.2943, -0.2909, -0.2054, 0.9995, -0.0216, 0.8051, 0.6056, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3964 left_y=-0.0631 left_z=0.0216 left_yaw=0.05 left_pitch=-0.1656 left_roll=0.0607 left_gripper=0.9995 right_x=0.2939 right_y=-0.0 right_z=0.1749 right_yaw=-0.0034 right_pitch=-0.0244 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [0.1709, -7.0359, 5.4632, 1.8828, -0.1587, 0.0904, -0.0122, -0.0342, -1.4017, 7.0632, 1.7656, -0.0464, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad26d17f07567da5cdef61ff93d21899e9ca51df764c41d645ec695b0ebf45b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2477bc3410be9290386f07c280e746b9413c845664d130a1caab3321670e90bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d959372df7f1f2afd21120bf960ef71953c79b65d14ae882feb882b0b601704f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJFXHQlxE6k2NnRhp2_yhd8J32ozqPBFerJzOJmB9_sG1AWKpK3rb6TD4aeJP_wKnKEV6M7V8jXU7MkucB8mmvCE_W_sMMjg6r-UV4DDo3Ij4xj_dkjbzSr3QKphmH5DZzcirJChjokN-DwOYbFD-f7ALdvH7B7aQ9nf0_2YbDhSegZL3TyHC7jORKQZR3wDzEQItk-DbY-O7MvfVoPF2BT7yW7b5QSrh2VwMkdbSmGjuUCoWQI2SzdwqlqJUB-rFd86xbc0i9k9svzYRcZ5JE8IYVN12Fgxtaxb3WXOm5aIBzbwa2j2c3qczHXK7LyulemG44ZKzi0suGsLieoImq4dvmIjEn5iW3TrsIL8kxw1ecLc1TZJf1I3ePzziJBxH2x8S7wEfEgufyQcViZ6dkRJpzB4Qq9ZEOJNQWtSBeyuLYNKY9U_AM8CwNx5zCvUlJxljdaKmrvVvgeZyyU8IEHj0FMomyDmX-9LS63RkVKYJRqqUSGwAZFTTGrwlllyZC1bV-9dkxmVby2AzxJ8Jq4B8B5Mjns708Oz1bPr5FMvwRmhuDKjwIa0Dr97UaJyHZ9KYNGbC4VxoetyE3_pVGC4pTMp0M-gXMNAfSKB_IRkZIPZiKDu9SAjWMZKfky5mBPRByNV3VcyO6MxKfZy88uI2n_vOgdhCBQpTCE9F8fMWfcbCigl3GJn5aN6B0pkmC57MgdWk4yu68ZUyXb1-fAUwcavIj_IFVNeFLwq8zlBr38rW692nLCTySuJ_UqXtlktwZsNH4fjNwCXFUH9NSCdzrn9hXJ8VyJw6YctuSz05NW1Znn9lzoN2z9nNgJ8K11j_cMm3sHatdaJEh6u4Y4QHStjUPKafk6fntnZ1wjFLXDOSmZ_2Kh-3d_118E5k6lnYQyMYYT6b3nJCYTQtDtK9cBlStuUT_MRf6sv4HVRBz69Z8WY32KSGbUlQOqtLlIViOYlr3yXRcvBvnYUvZA8S6dGdVJcs-ZRvru1-RXFc6gJdyPRkPGc44Wkm-OWGalp0jHWpfN3_z3y7peBhnyf9ruF11govteAZj8jOJ2DScx_9OY9Xb1r_YtpbN9ovRTgEZDy6xurDz-oVgpCws-OqwNvHkiplMlpfOn1Wv8CJ2Nn51bfZ560FFqUixmJq7qWdFpz4rGyL4Q9PqcdnhbmxMW5EWdot3vQIyct4bCDvWFNJH9TGGHoVu9Eoc0zxBFW8PV8X3dBZkdOcuwGDQTR0EW2_p4vI_40DKb5z7dnG0MCbd-4tY28PCbsu6Fg_AcUIheJhkGnzokFCxJO-BuGVfcQuZr5gOEPAxbiSVwZe5Q=",
  "id": "rs_0370765beff4ab05016ab49156094887d08d6139f3d3b98deb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left wall now crosses the jaw opening at table level. I’ll close gently on that section of the bowl and check the resulting grip before lifting.\"}",
  "call_id": "call_3LtxtTAxFjnOARDzbfvIojks",
  "id": "fc_0370765beff4ab05016ab49156927487d0bdbf6755fdbd600c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3LtxtTAxFjnOARDzbfvIojks",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2813, 1.713, 0.635, 0.4004, -0.2615, -0.1905, 0.0987, -0.0216, 0.8051, 0.6056, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.4112 left_y=-0.0676 left_z=0.0351 left_yaw=0.0261 left_pitch=-0.0833 left_roll=0.0234 left_gripper=0.0987 right_x=0.2939 right_y=-0.0 right_z=0.1749 right_yaw=-0.0034 right_pitch=-0.0244 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -6.2701, 5.0393, 1.37, -0.188, 0.1832, 0.4029, -0.0342, -1.2239, 7.0496, 1.7265, -0.0562, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f50e63da1a4741ca5f0be8c873a6679273566c62f1bd3de832d4434571d0fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:983e2b119fe01ba338c7964cd0190b69c91a9e70d46d2744ce73cb5c1533a18a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda5934261422c4b3e864d0cf84f6062ae876ea9d4f2df5036cebad2c9c482f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5747, 1.4918, 0.9077, -0.1314, -0.4618, -0.3496, 0.9996, -0.0208, 0.8005, 0.6056, -0.3889, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.388 left_y=-0.1532 left_z=0.1406 left_yaw=-0.0181 left_pitch=-0.0605 left_roll=0.0282 left_gripper=0.9996 right_x=0.2942 right_y=0.0002 right_z=0.1771 right_yaw=-0.0026 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -7.0222, 9.0462, 1.7802, -0.315, -0.1099, -0.0611, 0.1709, -1.7436, 6.9128, 1.8632, -0.0464, -0.0659, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2935, 1.7039, 0.638, 0.2943, -0.2909, -0.2054, 0.9995, -0.0216, 0.8051, 0.6056, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3964 left_y=-0.0631 left_z=0.0216 left_yaw=0.05 left_pitch=-0.1656 left_roll=0.0607 left_gripper=0.9995 right_x=0.2939 right_y=-0.0 right_z=0.1749 right_yaw=-0.0034 right_pitch=-0.0244 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [0.1709, -7.0359, 5.4632, 1.8828, -0.1587, 0.0904, -0.0122, -0.0342, -1.4017, 7.0632, 1.7656, -0.0464, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2813, 1.713, 0.635, 0.4004, -0.2615, -0.1905, 0.0987, -0.0216, 0.8051, 0.6056, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.4112 left_y=-0.0676 left_z=0.0351 left_yaw=0.0261 left_pitch=-0.0833 left_roll=0.0234 left_gripper=0.0987 right_x=0.2939 right_y=-0.0 right_z=0.1749 right_yaw=-0.0034 right_pitch=-0.0244 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -6.2701, 5.0393, 1.37, -0.188, 0.1832, 0.4029, -0.0342, -1.2239, 7.0496, 1.7265, -0.0562, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f50e63da1a4741ca5f0be8c873a6679273566c62f1bd3de832d4434571d0fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:983e2b119fe01ba338c7964cd0190b69c91a9e70d46d2744ce73cb5c1533a18a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda5934261422c4b3e864d0cf84f6062ae876ea9d4f2df5036cebad2c9c482f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJFbE2dOOFBD3S2lwsEJd0KTxt6jVxubHcNDQfOzO-ozBC2kCxHibK8queedDJnBQQqHyoszE8f03fJr0CunGGCr3gZZPzmQX5Qc3f_Lwb4UECGGj7yN32McdlcSW2UEPLY21j_3hy6YW4dKJZoQUXBOCDf0veDON0LXR3QnFacPPTQErvRwSR585IS5yLjShw5tY_-xiqlcZf54pOviPj4_JdNTJHaKDDtQAT_2jfu53yKQV6X5jPldcrVXALD11ShHvDT4YDySf619eUun0DoQ2UglK6rRJ2CrJLiVIJYbVxR-Pc6IHiG36_WI-R2TWmYizfH-c1x6k0b0SqYkxndpw8CiAgrceGnveLyFZsw5cdwI3mu9QEXfvodyikg-tpePkpCa7oU0kVk4C8mbxJPD29M3M947qYCvzVo3-YzPkVQYUI3Drdj3A3iemfVAlrViWa4kFrjcrvB-SBykD2gTwiNxZ0F4WqCpog761o27_Xj6QuaD4jwRXYKcS8Q3oKduIMMHDNt0wBAnzcdqh88glr2_Lk9r2rtGJQsFh0xRF_5BPO33RfhCKXwPVq8R8IoPJDJoJRlT0vTkHVFVhgP-9OqQah4aY0zLPUdIXMzLH9-gg9E6r_bFCoQ90WIne6HyM1Hbam880A2kJ8NsEb_uMJ7ZgPEn9cw4IdFktzUqs638vEn8k7D15qywnOGrOgSYg5VjjWehELZkSHj79CY89Wj3O0WMyOHC1YXacVlTnin8uINXadWxK96J1Kzh9zsIGWe6b0-DjuT6uXFDWmIdFVvU4QxMNLiA6Z-ZvchND6N_9w-HZnUkMTH-akH7r8R3ZnbRU95qE8ojS10Vh3Efj5sVOCbXbgvy_2qHxyysS5DaAhJ5sUf9MqUDKx3JMLESuyapOfrgd6cbk1Y2BBGealLm8D96Ldie-7RTLSPp5m0hHgN7Q1MmLllpx-KJ-qmUZpqZG3HJcsTz1P-ZHcmGgt-5rRCJ51MxLA5KkwDkVDCa1xMxUJ-LbcYf2rH_tE7T-371WutVGn36haeX8anD_6uvq4DM6sjMCT1yVekI9cp2HSWwqx-evFRrypZsHqYLdxUXY3uZyOspb0CvPvOaVlWZKFIlPfLhuk_7VT_7oBpoKdH6zupv54YUHQAHpEYB_lDlfPHE03bDVQAFFytHWz3w_byxMGmBMHR7paRpISkvur58g_MKGipIC_NVeOExYTTax50P8QhczyhDPSxkFrmZBEB29B5VjAiZc6ImhHg=",
  "id": "rs_0370765beff4ab05016ab49159b2c887d09555cafbe19ed62c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The gripper has stopped about 9 mm open, consistent with holding the bowl wall. I’ll lift a few centimetres and verify that the bowl follows.\"}",
  "call_id": "call_AwmDltWieMRPnG9SWrRPa2IH",
  "id": "fc_0370765beff4ab05016ab49159ffb487d0a5fa2cb685e138ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AwmDltWieMRPnG9SWrRPa2IH",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2813, 1.5669, 0.7105, 0.1776, -0.2619, -0.2054, 0.0985, -0.0216, 0.8051, 0.6056, -0.3927, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.4098 left_y=-0.0671 left_z=0.0792 left_yaw=0.0344 left_pitch=-0.0841 left_roll=0.0121 left_gripper=0.0985 right_x=0.294 right_y=-0.0 right_z=0.175 right_yaw=-0.0034 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -7.9111, 8.4444, 1.6386, -0.1538, 0.1148, -0.0269, -0.0889, -1.2239, 7.0906, 1.7314, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f83f4ebb58adf6a5d1654b2b9b8853fdf124cb767a8e4eb303f3739e3e496987",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a54e8b1feea6c0655fb4b8dc81dc6f41a88217ab2cc8954f2ada3bc7491c02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a54050bec901f99fa0f33c66ccffe8e68afa0816e5ff0732a006cead1ee4b857",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4187, 1.5703, 0.7002, 0.1192, -0.366, -0.2691, 0.9995, -0.0216, 0.804, 0.6056, -0.3927, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3886 left_y=-0.0998 left_z=0.0672 left_yaw=0.0197 left_pitch=-0.1245 left_roll=0.0525 left_gripper=0.9995 right_x=0.2939 right_y=-0.0 right_z=0.1753 right_yaw=-0.0034 right_pitch=-0.0229 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [0.4581, -6.0786, 6.106, 1.7802, -0.1294, 0.1392, -0.0171, 0.0342, -1.5932, 7.0359, 1.7314, -0.0073, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2813, 1.713, 0.635, 0.4004, -0.2615, -0.1905, 0.0987, -0.0216, 0.8051, 0.6056, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.4112 left_y=-0.0676 left_z=0.0351 left_yaw=0.0261 left_pitch=-0.0833 left_roll=0.0234 left_gripper=0.0987 right_x=0.2939 right_y=-0.0 right_z=0.1749 right_yaw=-0.0034 right_pitch=-0.0244 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -6.2701, 5.0393, 1.37, -0.188, 0.1832, 0.4029, -0.0342, -1.2239, 7.0496, 1.7265, -0.0562, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2813, 1.5669, 0.7105, 0.1776, -0.2619, -0.2054, 0.0985, -0.0216, 0.8051, 0.6056, -0.3927, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.4098 left_y=-0.0671 left_z=0.0792 left_yaw=0.0344 left_pitch=-0.0841 left_roll=0.0121 left_gripper=0.0985 right_x=0.294 right_y=-0.0 right_z=0.175 right_yaw=-0.0034 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -7.9111, 8.4444, 1.6386, -0.1538, 0.1148, -0.0269, -0.0889, -1.2239, 7.0906, 1.7314, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f83f4ebb58adf6a5d1654b2b9b8853fdf124cb767a8e4eb303f3739e3e496987",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a54e8b1feea6c0655fb4b8dc81dc6f41a88217ab2cc8954f2ada3bc7491c02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a54050bec901f99fa0f33c66ccffe8e68afa0816e5ff0732a006cead1ee4b857",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJFi8T-yDEx5BzMgNquwbuEH5RNC56_FsEjOxIy4Ep-EA2F9mrJyNEmi30-zrNp8VfMnABmInrnqh1Yel0qkNeaq30p4vROb7teoi2_ibtW0TtxRSDlaHt532b3d3SyPNiZyXDRlT4mZkQEyxMjFp6t7EzquZwDt644H0WdzO2C0F4_HSO6HVTGglSgVG7LG3dbfO7adB_n_xjCC5Vp8iU5bW_kiXO9Bnl20U6jolm9SPLE66gHv1c55DmGPokSysS7U1XV9QpVOMLsyGvd9pxb2WGswUyC1NKuCBuIj66Z90VNOFq9Va1qtakwPoPg01-nRhwC5ZCrc8OSXVlZALcYDglDQ4fpfcJDZasUf4Zf6gmYdSn5SHYyvak_fVy61LpuzstkuQHwPZ3j7MpghL91aoeivcPPBMjxT5eTi_h4FXif9Rhmf2ZtkrztDuwSEdO6DzvrRRcaVLnYBhOuz8ydhjepXhSdDQuKuaSA8H0JRAEpe4x_3vu-S_6X1tDMH0PcblkuFveGF0nkusQHLkXFsjk0tixL8BGF1-oXTQ50FW9u2LbQB4bk6Go76zjKslc8tLArfLFYZ7HVM7V4ttcfTiSpaROZkEPDWQ8l7ocTI2h6k0T7ySRb594vsFXxjMAxlnQ4OL_7r1njwHr4ZrgbhOHqiLOsHBBXa7uycctdpaSnTIRygZ13_UgvdfHO-YY9DpI84shs9J5v4NkC1uCqNmP20FdQNd8B3bXkenqnbyeJwFtiOCPbyck6pb2NYJmF0alBqSu5P6ilxMjm43ZYQ9UMcyYY6A0sHdptZU6n3LVXHFi6Vm-ZLolVpmtR58IDC2_neKcnDrbwfV3r8elmPxNAke0QZwMqQ2t1G9cGHHCJlV615tnIJfPTcEWPf4pzKfWk9dDsGeZGdfT_mfXpbypa0DiefskRK2nZvAXQNYNZ4FmHOp4-6jvZ0EsEwIJlhF4jzBFqpWSH9Qk6obnVMaQ-YBbxj0ZVNBeOqjg040K-DnsdWZnUU-2PRJT6EpP7RnXzNaqcYgjmG7EVTqgfENrlbf5HulVvqmVQq_GHf4n7G3jOfIxCnqvO_79qBjMUC1gRWph0lUKsUC0FGHcZ3jZsHonZCIPsPBL65xvCdqKQG6Fzj0RW1GfNA7Q7--r76J7fD-iM_bO2WC_ZwTIbSmEo8D36EfOZDYxIINK487V9qeGJmmXGHjtBwWKPKOmzcXmYLrVCIfKv8swbTI9vda-BNfdAxxvKyVtTAWw-y30qJho6yQNgjq_XGbvFF5XClGU4oinaL5naZvU_OyRpdWj4cnhyFGtF59h6VkB2QW1_s3i1VafUs_FrAoGMFREDa8jN_pKyUXRfEC3iLHSPlxT837xIwQTsGCzQ1rx1IfGouVNHkkFZNttG0KRoAMi2dk8Uby2Kmt8-GH4ir9uviq_SzqVlf8jGnE3wDv4_u5ixJJoOUeqc2I3DRARUOgIRBgGrMtiYZsVqOWp8SpAFVl2sbE6Du52TMAWWwovOM5ctcNRK7paNrw77RgCtAt6IRtv0a6aOO29nx34aqh5sRM-e0m6Txmt0pyyV26bBOCAvZT9eq_MFUSd4q8HAvPiya8r332_jlRoCTI18QnQ3zPrno7Gc1vkE2viSi-0gV7cW7KKEUUcO1aAmhN-UJRroEPB22KHQ3U01ul-Nzxpq76R-nYyLbKf6CjFy3tr-kKxZbjbcqXF8XPJ6mRFYvEUnHHttQXLny0L0dpFX3qJi6t3BtKX-ZRLwsDdxuPT3ciTvIqOoTw0jQc0WR2KJH_4_G67TZ_z_zxu5GpIbm6iZ4KQtIommDBGmYrvbIIxHWt4eKTpt-ZCsGST7Nz80AHzZvIRC_y8CNiPqa6FAUsBllAdQ4ix4XgwDCSRhXKMT7APNK_pqVA78H9NdpcSl3xrJl2a45mkZQq4XeuUxkq_WlEGAX9ImNzRQr3u4sq5kMtN6igKszMNGmNzwHqFsYjMQvUt7UyDs6JmFgin1yIJucpGN3C7uG4nllsspMJYqF-srM9ITqyxAjJL0xrxUEVsdafP2M9TyIH-HUymH_q4eKQQqmnZ_RRJCjby3O9NTmQSZkc1ru6VIGDllzXndfjfjXr-QwlV7B-ziti3aCS4qUQS2KQzc9U32oA9yp-ksqt-yq6U7ATRG3uNlPXA_BjsRAQ6vZLlYhr2XRCmc0ct5ZqQJ_uBc5MCyETee3UdJXc5WqtVn5SFovklXgpF97SIeymypgO8VPkwFtn_tHMQHhWkOVxV6nxL3z68XMVALZU9IsFdHolZJeleB3Av4NVKHLmgh6VHcuTpvl2Uyi3Wv7oZO2CITrK7JqWpc7XUEOmzoWF9TOOWvjVoFd843ccBXGnmS_aMZk2muc6p0-Szs7FxLq_qDUAyJiti12twOoqVWfPUllFYG0FUmL8lcR2TtIvEDCQ7A-XMzpIPn6uM6AlkLFuAdoFPpnzf4wAcOsfkgqx6H_8_Z7JThe9XEhi1EL4Iw-XdX1CgGAB1qr5Z9EhVyUQeCnvcBHEcQCxsNTUUhWjGQK5rt7BHlmDIJheuXDv7NN3dclZb-0Vt2fbbUEvq85WDuXcUaUc3asMB0ggPFBXrA2t1Pgb_KwHd1QW3B_ONccAXjuV8EQYcSNV1GpPr6tc5n4wy0qzKYO_hD7P-YgKaRGnH-s350Rx-XGvyU2",
  "id": "rs_0370765beff4ab05016ab4915ce58487d08bbdb46812c215f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.19,\"left_z\":0.19},\"note\":\"The bowl moved with the gripper and remains upright. I’ll raise it clear of the table while moving toward the middle bowl, keeping the rim offset in mind.\"}",
  "call_id": "call_H8bOQQshRk4i0k1770jTqrOE",
  "id": "fc_0370765beff4ab05016ab4916112bc87d0aaa35afaa5e5bcd6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H8bOQQshRk4i0k1770jTqrOE",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7021, 1.5028, 1.1061, -0.4053, -0.5446, -0.5007, 0.0985, -0.0216, 0.8051, 0.6056, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3707 left_y=-0.189 left_z=0.1772 left_yaw=0.0037 left_pitch=-0.0945 left_roll=0.0045 left_gripper=0.0985 right_x=0.2939 right_y=-0.0 right_z=0.1749 right_yaw=-0.0034 right_pitch=-0.0244 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.5128, -5.8735, 9.3197, 1.4823, -0.3883, -0.0611, -0.0122, -0.253, -1.2923, 7.0632, 1.6825, -0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c25909dc5650a7e096340366ef5bd5a4ae73b798daa6c463694648a0a49377dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dca51740b65ac0910585dfad64c0684a6f466f6f296c66becab7a8c35e66ccb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:128ec5f3d4d56c2fda599d764b00a3af4178bc327a0f6304c54fc0c0009386ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2935, 1.7039, 0.638, 0.2943, -0.2909, -0.2054, 0.9995, -0.0216, 0.8051, 0.6056, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3964 left_y=-0.0631 left_z=0.0216 left_yaw=0.05 left_pitch=-0.1656 left_roll=0.0607 left_gripper=0.9995 right_x=0.2939 right_y=-0.0 right_z=0.1749 right_yaw=-0.0034 right_pitch=-0.0244 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [0.1709, -7.0359, 5.4632, 1.8828, -0.1587, 0.0904, -0.0122, -0.0342, -1.4017, 7.0632, 1.7656, -0.0464, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2813, 1.5669, 0.7105, 0.1776, -0.2619, -0.2054, 0.0985, -0.0216, 0.8051, 0.6056, -0.3927, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.4098 left_y=-0.0671 left_z=0.0792 left_yaw=0.0344 left_pitch=-0.0841 left_roll=0.0121 left_gripper=0.0985 right_x=0.294 right_y=-0.0 right_z=0.175 right_yaw=-0.0034 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -7.9111, 8.4444, 1.6386, -0.1538, 0.1148, -0.0269, -0.0889, -1.2239, 7.0906, 1.7314, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7021, 1.5028, 1.1061, -0.4053, -0.5446, -0.5007, 0.0985, -0.0216, 0.8051, 0.6056, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3707 left_y=-0.189 left_z=0.1772 left_yaw=0.0037 left_pitch=-0.0945 left_roll=0.0045 left_gripper=0.0985 right_x=0.2939 right_y=-0.0 right_z=0.1749 right_yaw=-0.0034 right_pitch=-0.0244 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.5128, -5.8735, 9.3197, 1.4823, -0.3883, -0.0611, -0.0122, -0.253, -1.2923, 7.0632, 1.6825, -0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c25909dc5650a7e096340366ef5bd5a4ae73b798daa6c463694648a0a49377dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dca51740b65ac0910585dfad64c0684a6f466f6f296c66becab7a8c35e66ccb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:128ec5f3d4d56c2fda599d764b00a3af4178bc327a0f6304c54fc0c0009386ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJFoaMXjtytroT2Q8VGG_ZvEO-IPOd6Vcfx6qQzpIuRfNudBVADATRIXTzsKjIK0lC6A5f427PRwtTZwSxEhKL4WFiA2k90nCLShzOPRe9iaHqP96FBz8swrzrSlJPzvl_RP7ymQLjCXplcz1ylKsRhTG2W0agxCCV3E-ytr9LfO7VGYwNvtKouCtB-RwTE7rTcope-9FEthv79wj8Rm2qSlYxrxtFwH_nL1_sq61foHIDV3EM44CvK3ajCiwdT4ca6JQX2XdOgjuZ1BYRS9sL1DGG-tnKSOSuuDFOLVAe7Wc4-Jn8gn5hTLteXQPfU6cQOrCoBXv7dmWy30luY0yBFtDDa3BWYdJE1w8-SrnWHIokbnxGtaBLX-7UheoDnWM20RvcT_hTjHWx-2Aj5Hjbdjzi6P5lEoVgml6Ht8R4_9ClMWOWu9w0WJ-ZaC1QaKSaM5vM8MDEyuZLZtaOUXFCjkfR7UErKVK7i9gMugxwdurBBJq8nhJTaB8p8HrOkzqxS8c9AA7rTuLtS0eLZ34lNs_sVPlYl2Y0c2nkT6H1bNBmpqpnJc33jyDn5uzNIsVM9s4oURfuJPpX_zfZX77uYg1ivBfCSdJFqYDJ1rtykXP7tGDl-SWCeT5rk7-WaKD-WSeC7JKDqSWTHGk56rjrlc-IcGXcQtL0V7ka-QzFEeAaR1VoVbwjOPz-xv6poSjhFxM_2TMA8a-FJ66CSi72odmlqnBI5nVuIsIqpRxfFFIw2sM4YpcXk2smNhcLRDo1KI-fpW0JtGz9oCZv7Uovt9NuLAtljaWROrw19qNGb4AvBAYD_m5zCK0Xx4IqzaTYlWfACIvd7nId0Vec4HTX3x3LdfOHPs8HkEzqAVjHLKPNxvUBjLyw0si06vd4InsD8grcUV7CyqNeU_TPEhg-VyrXoKA7_2x146QQswGGYdieA8NK53daDuMrWCCU89mpDmi7ahB-2A79h6YXX7M-3pYURCBb0NLOA81Z4hM6rtGw9L6l-YV0hrEzGXcKQdaoeDmEJqDb-uZ_-vGZUcBo3s6SqMsKshHVoRhGzzMKrCQL-j_EFd8_0bLW60XxDY5ozl76KVkjagBBp4r0AZZpfIKwT4lHDFtCTUJsFQC2lm9nBH22OKZjvC6tG1iEIyKsQPR9swe3APVWAt1-Q8DtR2qUKwWpd6NvzHZ8TLriB8nMkULxg-UAXxeuW2uB0SHVmpUlNPU9hmU9i5N6sUSue2CCr3hG9ZXT8VADAvAIgzKXOEuvp3NK3Bo1vkGCGLbTR1LLQHYVzDgadT6bGzJps_7H6qv5hOERWK0vt36wq0BzKYq4TPogcWrY0sMNpxO9nX4mCbLa7xrWmEkaz1GqPis2pqGGoazoXb_GIsj6-WOgR6rkoh1VcEDZw9er3BGFJui9FnmnjGuJ3ZwTtVp8yAWRXfVqOkLOAu1s0n6nJCqMG-CrHbqpXpqM8khNYfDYMkX8GIm3rcDh1bRIzic_Cxy7h8-JdgD56TUUkDROIthwZQIq2hJM4jl_ZGUJ56ThCxBzrv3FZd4IZJ7IqplGMB3QiPdnk5lsjEqzhUD4JkNT8SVk3q9ggNv14XwfrAFh0NZxY-7l-KQa5sHs0DlcftOXH2JcI4QAsP5YbZFwJxtFARJ_-uqABbNy5XPEd1wxsHrCc15g7YarBPYMw0RnHq_qGUE6SzzTWH71Os0PzarzKr1iVV82ZrEROWKk8zuhIxooSBJFOlYIQmjY3BIKjt7giBfB-yJVvBl7iEBO9JdxxORbTZWsnBvKY3g_7HcWkza1dywQ6wEuz7wmyoFUbocGS4most-sZtiScFWSM0ibpc60ORk1aXg-yF953KIUqC8cbaIyhePqAzdomQz6F7-XpoHEXZdPjhRX8nQ7rnLxxXzdbdj9b0O75x-6KJNvcK5qZmlu_sMTIL1bLyKSNySDwyATQbhNrd7xdEnqRbuq915OjN67orYRbo6XgzVYibye2P7BREFJZRGK2ky8E8Y-ppmRxDinsGiaij8K8A0wFnJJyAXRnsA3mTQol9l5TZQr2HxuoqpLowHYSKXlujh4hLn0Ann9PhUjLj63s-s-s=",
  "id": "rs_0370765beff4ab05016ab49165694087d08442944dcad0324e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.215,\"left_z\":0.10},\"note\":\"The carried bowl is close to the middle bowl, though it has tilted in the rim grasp. I’ll make a small sideways correction and lower slowly so the receiving bowl can guide it upright.\"}",
  "call_id": "call_fEqxUWMLKEkjOtnUhvqOtfYw",
  "id": "fc_0370765beff4ab05016ab4916808a087d08d18082eb386da49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fEqxUWMLKEkjOtnUhvqOtfYw",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7593, 1.6566, 0.9592, -0.2104, -0.5766, -0.5411, 0.0985, -0.0216, 0.8051, 0.6056, -0.3927, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3613 left_y=-0.2052 left_z=0.0919 left_yaw=0.0007 left_pitch=-0.156 left_roll=0.0625 left_gripper=0.0985 right_x=0.294 right_y=-0.0 right_z=0.175 right_yaw=-0.0034 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -7.7333, 6.2838, 1.7802, -0.3541, -0.0952, -0.0073, -0.1162, -1.265, 7.0769, 1.7411, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c63ac85aefd4fb5ac2d253de2f0573101f9e9c531d09aa76c8757be9036aab8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c1f928720ebef07aba2d6da8186d237774288d1060151f010271d7810b6980e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6525a63495f3d3f4a2faa17d55cfe7287ca83f8c889bc8f2ae554c4a4ce58a28",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2813, 1.713, 0.635, 0.4004, -0.2615, -0.1905, 0.0987, -0.0216, 0.8051, 0.6056, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.4112 left_y=-0.0676 left_z=0.0351 left_yaw=0.0261 left_pitch=-0.0833 left_roll=0.0234 left_gripper=0.0987 right_x=0.2939 right_y=-0.0 right_z=0.1749 right_yaw=-0.0034 right_pitch=-0.0244 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -6.2701, 5.0393, 1.37, -0.188, 0.1832, 0.4029, -0.0342, -1.2239, 7.0496, 1.7265, -0.0562, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7021, 1.5028, 1.1061, -0.4053, -0.5446, -0.5007, 0.0985, -0.0216, 0.8051, 0.6056, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3707 left_y=-0.189 left_z=0.1772 left_yaw=0.0037 left_pitch=-0.0945 left_roll=0.0045 left_gripper=0.0985 right_x=0.2939 right_y=-0.0 right_z=0.1749 right_yaw=-0.0034 right_pitch=-0.0244 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.5128, -5.8735, 9.3197, 1.4823, -0.3883, -0.0611, -0.0122, -0.253, -1.2923, 7.0632, 1.6825, -0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7593, 1.6566, 0.9592, -0.2104, -0.5766, -0.5411, 0.0985, -0.0216, 0.8051, 0.6056, -0.3927, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3613 left_y=-0.2052 left_z=0.0919 left_yaw=0.0007 left_pitch=-0.156 left_roll=0.0625 left_gripper=0.0985 right_x=0.294 right_y=-0.0 right_z=0.175 right_yaw=-0.0034 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -7.7333, 6.2838, 1.7802, -0.3541, -0.0952, -0.0073, -0.1162, -1.265, 7.0769, 1.7411, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c63ac85aefd4fb5ac2d253de2f0573101f9e9c531d09aa76c8757be9036aab8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c1f928720ebef07aba2d6da8186d237774288d1060151f010271d7810b6980e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6525a63495f3d3f4a2faa17d55cfe7287ca83f8c889bc8f2ae554c4a4ce58a28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0370765beff4ab05016ab4916aaf4087d0b9b7fa2589451857",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.28,\"left_z\":0.12},\"note\":\"The wrist view shows the carried bowl is still offset to the left of the middle bowl. I’ll shift it farther right and slightly toward the base before attempting to nest it.\"}",
  "call_id": "call_uM3NVMAsGc0I83AkRP2XW9b7",
  "id": "fc_0370765beff4ab05016ab491731da887d09914e0dd42a145a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uM3NVMAsGc0I83AkRP2XW9b7",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9203, 1.7943, 1.2301, -0.4397, -0.6495, -0.6983, 0.0985, -0.0216, 0.8055, 0.6052, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3488 left_y=-0.276 left_z=0.1115 left_yaw=-0.0144 left_pitch=-0.1706 left_roll=0.0565 left_gripper=0.0985 right_x=0.2939 right_y=-0.0 right_z=0.1747 right_yaw=-0.0034 right_pitch=-0.0252 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -8.2393, 8.4444, 1.0232, -0.5495, 0.0513, -0.0122, -0.1026, -1.306, 7.1726, 1.7167, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:710ef3b899985c22aaafb5d1b0516d608c7deb72aaa3c48764b965239dca5170",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb5b594dd0fefe88199b1dfd06f57dc89a20790cddabbef0d36965d7ef92d08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:293fd6bcfbd5eee7c4351efe7da37bd0170d1e6fddde7ed5221c32ecd15d4513",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2813, 1.5669, 0.7105, 0.1776, -0.2619, -0.2054, 0.0985, -0.0216, 0.8051, 0.6056, -0.3927, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.4098 left_y=-0.0671 left_z=0.0792 left_yaw=0.0344 left_pitch=-0.0841 left_roll=0.0121 left_gripper=0.0985 right_x=0.294 right_y=-0.0 right_z=0.175 right_yaw=-0.0034 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -7.9111, 8.4444, 1.6386, -0.1538, 0.1148, -0.0269, -0.0889, -1.2239, 7.0906, 1.7314, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7593, 1.6566, 0.9592, -0.2104, -0.5766, -0.5411, 0.0985, -0.0216, 0.8051, 0.6056, -0.3927, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3613 left_y=-0.2052 left_z=0.0919 left_yaw=0.0007 left_pitch=-0.156 left_roll=0.0625 left_gripper=0.0985 right_x=0.294 right_y=-0.0 right_z=0.175 right_yaw=-0.0034 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -7.7333, 6.2838, 1.7802, -0.3541, -0.0952, -0.0073, -0.1162, -1.265, 7.0769, 1.7411, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9203, 1.7943, 1.2301, -0.4397, -0.6495, -0.6983, 0.0985, -0.0216, 0.8055, 0.6052, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3488 left_y=-0.276 left_z=0.1115 left_yaw=-0.0144 left_pitch=-0.1706 left_roll=0.0565 left_gripper=0.0985 right_x=0.2939 right_y=-0.0 right_z=0.1747 right_yaw=-0.0034 right_pitch=-0.0252 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -8.2393, 8.4444, 1.0232, -0.5495, 0.0513, -0.0122, -0.1026, -1.306, 7.1726, 1.7167, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:710ef3b899985c22aaafb5d1b0516d608c7deb72aaa3c48764b965239dca5170",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb5b594dd0fefe88199b1dfd06f57dc89a20790cddabbef0d36965d7ef92d08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:293fd6bcfbd5eee7c4351efe7da37bd0170d1e6fddde7ed5221c32ecd15d4513",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJF8ET7nVEbp10zxW3VMT9WTLjP2_DqhB1WjPYE6JrwnZQvO_BVwAZk4pSMlUh3rWWFzqpULPhnGxvFTljGpOQQK1r59C18Fm-YkZ4arhJ63NGecJutqO9ZJTCT5l-TUvlG2qfR-KspbXjuuv1Rlkmrxt1Kjd9bMxfh0CBbgyklRBOmjh5442GSTs_U6AI3Kyg7afRsRXzFQ7pFovtBE6RUnRKgX8SWYLSjh9sTWvWgOP4WXVA2iwKZ0hkMPF0slNU8S3_T_eheiOVhcuYlfL5OicdKrTj3Rcir-MCI_4sSCGYcS8e75l3W3jjKHpBsM0Mq8oP5NwgO9bOzmjjFWlIJIYNR0ApYpfWnOgw7jjyl2qab2lGPxMZs2RtWP-9du8_wIC1tTavvaVlEQOeyvjSN0V4Ui_s19EgySreyh43ZgKw8irhCECeCHD-pQmirUY0uPJm8beLWK-wUUl8OBXfNNmzODzuIsLZYdzbTzoQnCUDwiCBhE1UUKrs30LXM94SDfBTXmEqFo15DGgj0S5l9BqIREIPTlxFZOUMrGEa1wtfhMXiRYXvhpQuPDmKmCqxZ1l3klCHZS8M-tbizMukfNa0ZDoiWp4n-_LCvJWzqIAKbyT2XBbc9d8HtN37E7d_giKNsvkfoGjelIVD675xYA09nf-qVmmMIEIEpzGYpL3FK2o6f4CuPNm_DE6-UD7DiAdZtamKOQm1bJ3jULBE-5BGSTw3UQYncYRqjRGjE3NHsjDjOb4kDHyWEy6hWAixWThE1WqMwpqAoKSnIg-imYWCnHYP6DpyuloKjPNmbtGi582x0_kzz5xX_sh918sfeDmOwuj5W5rYmNMi2QCAmFmJTxKrW-vnhSG-eaWz7CDTx6tQyYEeAoR_1XQHlmvwNRk1JttDaZO_7uHYUyHeIQN2Abbz7dfiQFdluIspLtDt_GSGlWabdTd5P9NVzva9v-9Gmfx3E8W6MkgEL9DWXnkmQH9OAP5UHM0zYUBYfG5EPN4xnx1RA-ZTyDDgWRZuAtnkakb3cM1-5TqQnO2e-ex1L2HWX7aAkkJL85s1EuARz0gzoZpZKCUw3fsb4Dvz8IbJ-W6ccrXM3WVzbToDpZfa70nOjxp7GNyc-63v4ziT3sJ7rkAOhBzWVHffPR8364u9YX3LAvhplaSbkFJY_zbpalegF4qWtKwuNAI3CboccmAkPsq-pZEihncAizjIRt5bPSYRnir9Iq7dNSG5MMYm1m3djAQDkOa1OcpJE3wzM3vDzIsy8qeirBIEhIv9qIxvgFXLLn_hDxTHL8AIfJZ_hRdAtkRxtb2ZoYeow3HRPMhbmRGXX-2LAmJiy2f1ZsoDxtlZm_ccmjK-7IHIiQ-79b7iAeyoH58fUY6y5eHFfIrdQeHU1zdhYR0noMoXP0K6WbptjllaytF24dCNi5zvCkIZ9qVALiHWN2TV-PST87727mvFfsGyIR4Epede-wP4fa_rZptp9wbHwMYrLuC08en41ROxJIsJK8EuSJ7FxZoHG-oLDPktOVr4K31QWxh3FCh0kppGwULJhrTW0EcSoh2Ufo5z-jPGrQStDtMNDLlrK-Ug5_rs1QEqryrQSR2W-ZZSN_PRvrVZUK8d_9KHVJ5DQYp8g1VTJ8yCpc_7LEsFEiSzyl9xujIN0pmI2FwO4rFY_j6W5FURUB_lO20-KvRkYBBMtgf7gm5ZDRr4vJpZUjkuPxoU7EbbBFuCRES8abyaF4rPHARp9fDnq0mpESjTYBynQsHvpDAbXHzTc7R3djH6gFh_hf4-nIx3dQvTURE2wTnN61EjDXd7CPnbGc2Wux2fkRcCQw6YNx4zoRGS0oyknNXpZmGfTNw6YU4yC44VbRIGD6EzfngvoQc_R57usiq_laa7BPZnU28fKTByvw1PRoI8XZBv4eScFq0MX9PvK9ee3smjapb1n8qXr2EFA1UdkmeAurayxVWgxXFzqJfWAoZPuKlElUoxMuZvnVTUxLHDquVI2SfaOEAo0r2bPM62OHLw0CbwTTjW_b519n1_Jx1ObCj0qzjeqC-wz3naXK6iHFawue9CF01INTgQrjxC3FofmddaWORxqsP1bNhEWUJiO51J7yT9kkp-XiFwUsClBWuPEs3hU18n6XtaDxumKuE9ow76F30ulCsgH5EVjRQnMcq1ZeegzPt2luQM40prMv_e2Sq-9T5fx46dTYH2Gg0f0sub8HlsGaD6Ebpx91LtjpNJf0ShDn1B1kKFgZylGTv1KBb6wSVPS_nW75vyG0oxPS9E6Z7FiR3sDMRkP1G6Qh5D-XFKW3uXnwk1Xz1PKD5b_1uUh4QQEF7cob-mcqNlk52UbZW41lJUh8WENu_DNjXJ1jixt0Z6MD4Eb7rT-Fa_gU-xCXmHcrFLwzFwhGINPTWe0kCZv4pE00rHPEVe97OvlbVDDPwYTfxJ8np72a92XA3fjt184lV0LAUnawx7pg-K0H1zdXC7qvolU4KauxkFK6AU_56uMEOPuHLsKZ_VoxcOdk_0otYFQbQhnVMhnP-fjYVGeWyMg_eGTzyABFxVQcK7Rcj_cz4NbN564VxYkyR-heLG2VpqV6EmKkNluB2B-4146yp9ZKMEhFtzPaPyFGnl9ON8lAIDWn6Mli9_kicHZ2FQeu89zBalqzfNtKUivAXcR8GjRzMPIF5QfgU2I90kxp9M1iK1z882f46SSZ2xsfYJqNQRhlNLxYqjiHeQub_r5TTFZ3DkfVzg9Yr0UMtcDlA4j752EUcRcOAuxUpEWkyMgJsh946-CSXywxV9tcMKfuXQ2AaDFrCQxjVbb6fXb8lIBfbaCteKDA2xAcjwgeFRTodOFNPiu9dQBlSrKunY0xTwoIaV_BR9IMGlveaIAT",
  "id": "rs_0370765beff4ab05016ab49176453887d0b8ed29c83facfa9a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.15,\"left_z\":0.17,\"left_yaw\":1.57,\"left_gripper\":1},\"note\":\"The cyan bowl stayed behind during the sideways move, so the first grasp did not hold. I’ll approach its near rim again with the jaws rotated to pinch across the rim more securely.\"}",
  "call_id": "call_vQpc2Vlayyg25uVUsPWbigsa",
  "id": "fc_0370765beff4ab05016ab4917b45c487d093b9ad456c5aaa1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vQpc2Vlayyg25uVUsPWbigsa",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4725, 2.2978, 1.9091, -1.5417, -0.7391, -2.0304, 0.9956, -0.0216, 0.8104, 0.6056, -0.4038, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3888 left_y=-0.0611 left_z=0.0844 left_yaw=1.4238 left_pitch=-0.1975 left_roll=0.0464 left_gripper=0.9956 right_x=0.2927 right_y=0.0 right_z=0.1713 right_yaw=-0.0034 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9971\nstate[joint_eff]: [1.2513, -11.3299, 5.2308, -0.7937, -0.4664, -0.0611, 0.0122, -0.1846, -1.7162, 7.0085, 1.8193, -0.0317, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:848aa4b9e21417116794d42d4ee5169920b7607b060e87947deb5921495bba4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c79c85dd4f487a687a19d93eaae1fd637f8b36e1ccedb744896daa22eaff6f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75d1aa9eb7eedbbe688e7f6406a148db189515bb65711409ac0d07dee6ae0c40",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7021, 1.5028, 1.1061, -0.4053, -0.5446, -0.5007, 0.0985, -0.0216, 0.8051, 0.6056, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3707 left_y=-0.189 left_z=0.1772 left_yaw=0.0037 left_pitch=-0.0945 left_roll=0.0045 left_gripper=0.0985 right_x=0.2939 right_y=-0.0 right_z=0.1749 right_yaw=-0.0034 right_pitch=-0.0244 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.5128, -5.8735, 9.3197, 1.4823, -0.3883, -0.0611, -0.0122, -0.253, -1.2923, 7.0632, 1.6825, -0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9203, 1.7943, 1.2301, -0.4397, -0.6495, -0.6983, 0.0985, -0.0216, 0.8055, 0.6052, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3488 left_y=-0.276 left_z=0.1115 left_yaw=-0.0144 left_pitch=-0.1706 left_roll=0.0565 left_gripper=0.0985 right_x=0.2939 right_y=-0.0 right_z=0.1747 right_yaw=-0.0034 right_pitch=-0.0252 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -8.2393, 8.4444, 1.0232, -0.5495, 0.0513, -0.0122, -0.1026, -1.306, 7.1726, 1.7167, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4725, 2.2978, 1.9091, -1.5417, -0.7391, -2.0304, 0.9956, -0.0216, 0.8104, 0.6056, -0.4038, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3888 left_y=-0.0611 left_z=0.0844 left_yaw=1.4238 left_pitch=-0.1975 left_roll=0.0464 left_gripper=0.9956 right_x=0.2927 right_y=0.0 right_z=0.1713 right_yaw=-0.0034 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9971\nstate[joint_eff]: [1.2513, -11.3299, 5.2308, -0.7937, -0.4664, -0.0611, 0.0122, -0.1846, -1.7162, 7.0085, 1.8193, -0.0317, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:848aa4b9e21417116794d42d4ee5169920b7607b060e87947deb5921495bba4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c79c85dd4f487a687a19d93eaae1fd637f8b36e1ccedb744896daa22eaff6f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75d1aa9eb7eedbbe688e7f6406a148db189515bb65711409ac0d07dee6ae0c40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJGFN9tUz9lQKpMjd7XfpeaWSlh_VqXoHE41MqJElRNz_dX8v8xBItZZegyvLCWs36SK7VFCP89mJWIlo5SmVpeX1QWtxxqxOoq5qFfOCej2OLPF2O5JN4khLqblh9hk30Exvibg_vb2JCZv3zbxJw2ptitook2-W7T5_QdKHQ4mewyoTuBGaTFQ85vySNGWzpPSjqNhVyBxcuEtM7SRc_mOVNpqdM2kP4Ie6YM-0fw6c-bBl8nQb-kFw_tQC8Ii1EuH_tvo6yvVUfGr4pGcxST4KQjodctCMexgXJPa241mgtqWv02d3tc3KigkysXn7lqB0UlN6R6yTUevGeeLnt2hwKHGz6wnEpMlzG-dQcz36plpUVGnujRS9xPdBDWNzpjIQA0f3t3EHDEPaBR8fDJ5O6X0Usj23HZy4ok-cQgo8NZSoOi-zrtJKTTydooCuNpnRRsbBOZzoNGyKzg5Mu-3RM5Swrn7YL7ItaQiBXieVbpXkx2qSdCTmhRsu1CcHXv_pwvsRB1ImgmR3jGe_3ifXjTi4cRcRpdYvS9Nwv7SVHbqpTOueecsQi9RKKTW3boW4waSTS_6mzry7j5pGmCB4qBOT-9QvNdvcNX4Kep4zlvna0Z-gTHaenwA6ssSR_zq2OI-DyB0hD2dHKGYbfUVp88At2vOftAKgpLoHiMuk1P3nf6bDjEsPtM62l5Hda6CeNFlzN7JEppckRWXiqlayH5ngoSjS-_cKKkDRPn8NdsXfgaPLp7lEamWbLhodG_L7_dywJgWbwz54pMViH3Tob7AQTYEjE7zV4JpWNQQa-Ukta3mYkupjCO4oYBU7vQs_BqNdmIzgINp4PMJxAPBZ-FFMjNhbTTL8oDMhUO7PZ958CSg8IROIO6d1Cii6O2yinCaSALUvKTk46OgqSUD191GWI0ZS0XP0oco1KHaJJj4XkT2-PIceC-62loQA7KQ-vPdRNZNqf2sWdQEqMCnnl4ima5wSZxJvKLYDMAkClN2DqGZwJq_BBEB8CnWzi7ymAE88RVF6fYdGxdCzOuJXlbvZPbD3lyDJVHr25ntHhh2gn-dtBSDnDq3PFfgXoQyJ1K9Wc25K29qOhTvc0EXVfEkhQAAtIqS2zSUyZJbEEt4Fhmp4Y7medl3cZKoAmdGfSK7w1w1iSnAJ3ScYh5bpPMR9d2SudR8I6L1fwbNvLnR1TkhDWMgEC2lz7Tf__QukzztG0N1yCfiAYf9XW0jl9NqWkAzlfN14Zs7WauA_MVFFBmP_WCTDWNZqWsnEi6R9tI06aD7JPAnM4P-nzj1wSzc8NS4K_bG351E5Gx_HfoRDwVlF4VpMAaEncMEHkDvXNln6k38O5gwE4wkDCpduFyAVvM7oRR3n_uiL0FNWhfWeC_06aEpJ589yc_UDOn4U8-MhzzZ6Alz8BbOxb8U_qFBXCz9oqH8dkcZDkB5RK7z8hO5bwHEud_VepBNcJRGTVCGBuhVOoCNLOWd4BmVz8wp_d61lEP15s1DGbwsnPfga8WZOLCrDV9XZDcZJolXyMMDI0aNVXwRVRpD9ecE18cuQOC3eWKEHOAzH59n94JBaq9AFbMas1op46WLGKIiCsOcG5_SINLcjsPkpnxHMu7b6qxFE9iiOqUHp4FdI_1TMSiZWUlkGmF8px3pIuNkNbkbXZdWM47E0jPLXRnVlh7dpl0nTSyQQ24ZDZFad8dM4AJLyzb8_D9TsAdbXpfakASgqH2ATW2CsLiFJ5BPT1r7VuuFEvYt3KL_0UHYvFwBCIj9ZAhMELtkiY30SwYr9KaqM3j8Qi6fkykakS1uWWOciBcCCkPKTDNf0s9NkvOJK7c2_r2e-tengjEzTYHgXp2OEcnbIqBkcfk7zQTvHsFPnnDSxf4sHfAr3Zy_LuXsb1kdCTO0iwPmeesU7EjWW0vnqd6LLBhJOXwoC1mFFc-PwomwyWTLnf47boouwsjzXhKP5wLrDXSYwqwDZaeY_UROI9oJp3M05rk_qVzKx9AatCxyUNidXqvK-ISRrgzgpZEenq25mLlOVYMk7tmURSZeDgCJxJcTAc9tqAptstEkkVeBeyONJuue3ZVhF17ycCZduyf7ShmLLSSyN3Omxdn-zsdnu0O2imxmg6IWXhEZebuCDtfJiq-FiazlmCZhh1UESnr05dAmQE1_ZCwnTePhMtTtIN6c6jftdvqrsvDvCVo-7yuev9DhzDipYhtU3PnKHP6zNUr-ZywZqySHFB5kzvBK3ccyooTnviP2V402dWDe0Ct3IcNzpnAUrBHpjTRtXynAr9OnHubKp9ac5lZz7MHUsX2xOOK-bE42zD9lPE_lSS_3EZeQwgAcR_92AmDYnHZEDkdKj2-56SWsw9qvP_yCuGrbwPehSU2G5ftk39T2Sc9Aoi8Qc3TOAhn4dGnE30ugKe2EYKUtj9W8V2pxeApnsmR1c0eph4OlyjCoKaF4GuJDp8gqFl1kwHzxCFP3aGd-mP49iGMQpvw3y8YoyxtiCVMVhDV7uBrsFXw-BAPiyyceXF9TJGYH13jWrJ2UCRrERcOmYwJsRuKNdwOkKX4tehP3-vyJS_2MXnpU8rJmRnVDPteJQX-0GxTwmGaASRIobQ2R-WGknadrUN97rzRhz2PMUH1p9x7vLq8MJQF-dY4wubw33P3o1pGXzMp_vvI1ePCFrYEvg1D5FFSIxs3Cw0TZFYXh2_xdTZdQsFWNJ98sL0vbtK-8eM9kOv_XB8bokVRqK-ZZK1aB",
  "id": "rs_0370765beff4ab05016ab4917f486487d08d4d006ceba2f7fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.13,\"left_z\":0.18,\"left_yaw\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"The large wrist rotation caused a substantial position shortfall. I’ll return to a neutral wrist pose above the cyan bowl and keep the idle arm at its home position.\"}",
  "call_id": "call_ZdqAc4w2xcaV0Ledc1fB4yq0",
  "id": "fc_0370765beff4ab05016ab49184416c87d0af0d2e005af72334",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZdqAc4w2xcaV0Ledc1fB4yq0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5571, 1.9736, 1.5948, -1.214, -0.7864, -1.6382, 0.9958, -0.0216, 0.8249, 0.606, -0.4225, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.381 left_y=-0.0858 left_z=0.1254 left_yaw=1.0397 left_pitch=-0.2164 left_roll=-0.0167 left_gripper=0.9958 right_x=0.2909 right_y=0.0 right_z=0.1638 right_yaw=-0.0031 right_pitch=-0.0732 right_roll=0.0004 right_gripper=0.9971\nstate[joint_eff]: [-0.0479, -9.7162, 5.3812, 0.2271, -0.6422, 0.1538, 0.0073, -0.1026, -1.4974, 10.0308, 1.6874, -0.022, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dddf19fa0200736d4da0f221d0f6915478e60d56b56776a47ed750178018ed34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cad5a940916595f04efbb72827320b24acb9ef25911a101dd8b761b47b650964",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95d7abe6206d7dc112f4e3b3df0caab394c4194de24e44b6fee9901b44868750",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7593, 1.6566, 0.9592, -0.2104, -0.5766, -0.5411, 0.0985, -0.0216, 0.8051, 0.6056, -0.3927, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3613 left_y=-0.2052 left_z=0.0919 left_yaw=0.0007 left_pitch=-0.156 left_roll=0.0625 left_gripper=0.0985 right_x=0.294 right_y=-0.0 right_z=0.175 right_yaw=-0.0034 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -7.7333, 6.2838, 1.7802, -0.3541, -0.0952, -0.0073, -0.1162, -1.265, 7.0769, 1.7411, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4725, 2.2978, 1.9091, -1.5417, -0.7391, -2.0304, 0.9956, -0.0216, 0.8104, 0.6056, -0.4038, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3888 left_y=-0.0611 left_z=0.0844 left_yaw=1.4238 left_pitch=-0.1975 left_roll=0.0464 left_gripper=0.9956 right_x=0.2927 right_y=0.0 right_z=0.1713 right_yaw=-0.0034 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9971\nstate[joint_eff]: [1.2513, -11.3299, 5.2308, -0.7937, -0.4664, -0.0611, 0.0122, -0.1846, -1.7162, 7.0085, 1.8193, -0.0317, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5571, 1.9736, 1.5948, -1.214, -0.7864, -1.6382, 0.9958, -0.0216, 0.8249, 0.606, -0.4225, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.381 left_y=-0.0858 left_z=0.1254 left_yaw=1.0397 left_pitch=-0.2164 left_roll=-0.0167 left_gripper=0.9958 right_x=0.2909 right_y=0.0 right_z=0.1638 right_yaw=-0.0031 right_pitch=-0.0732 right_roll=0.0004 right_gripper=0.9971\nstate[joint_eff]: [-0.0479, -9.7162, 5.3812, 0.2271, -0.6422, 0.1538, 0.0073, -0.1026, -1.4974, 10.0308, 1.6874, -0.022, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dddf19fa0200736d4da0f221d0f6915478e60d56b56776a47ed750178018ed34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cad5a940916595f04efbb72827320b24acb9ef25911a101dd8b761b47b650964",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95d7abe6206d7dc112f4e3b3df0caab394c4194de24e44b6fee9901b44868750",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJGJvqNpKYnPkS7DrFRoRwr6xqsVW9bptBvwKwgChzdj_K8ZxWg7UBeLG3cUGIgUNW5GN-z9TCToFb5nCNY81AE6qQA8yh-vEt445hzKCmpXZ_Si_7yCP4jlyrmCnhRvZ3a4BMQUmbUb4tXJJFmpXwmYYg-uT-Q311gCuZEvFvNFu-SFdfOaY6iqq50m2ROOhKha8Y4tq8LGcALloNUcT5kyBMuTrhCI3rZ9dLVO7C2exXK2tFZIo5a_9i3I0topLnwTqKlHjzc5rJZIkl99HCayoalDWQ7PxlAQMk34cFouE-9730FkOU5raesnyJaBpeud5nSJfq8V8XcnmGHEtWblMVi11GSLeMTbb560J0vZHUZ8dkEbnyJV6cUxAS9h1zxLSZv1VnFOIEIkQvLyCqoxI_T6uj8cZv-2_zkUt9B_8DEecgd6BmYpd0v0dHjXX0o8Bc1btJkZFkqSESDvNcTfxmyhXDKksMHhZZO3VEHT_QSDzy7HlcMWsbDU1VUCp2-XhwSx3_gQGm3hVeyEt1VH76P6x7hBvAfws1QQE_rby3iow0CTLWpE1TaJqMUsOIxJiDWrvUCE99z9OGdcRbigUiiBMrCdpMsFuKt9j_d-TJowH9KQ7B8CkC6BmaMlLH_H3Wb6RfGUsvJ1MRVR_kc3GtTbKo4k3LjzxZCJ01hNNHL4TF4zwDrOVJv9D5dB75e3L56z4bk9CHM8YfN737gLLmVgse6AtuKLWNTBrsMqDr3a08OsvYj-dCuDCVTMRBaqQWNcqKKGc9D7wZEHZ-cf5I51CrSc3cVuD4CYotXr8ZT6KlwhPA1k5m8EdvPl2FrrkaZB-80I8uZsgM_Y4DcuVDVUO7G8SVFl_RKESFMvkTfCfgA-m47XI426KYp1o13i9-n00zSUEO2mRA1o6dUq9a5fycYVLdXhliwD4z1CvvNJqRgMUN2c7Gn25qOYJ81cLo4AFgIF7gI-BXAyk23OC5VgWr3dyTUEUi77RPG3apME49Ien_g6YSt5ITV82UMc7q_PcbueZDHRC3Qd3divVXHWhDgZ6_vXyTbCX3TyGcUQ1G1B3AFQ_4gtxy7l6k4fdm7TrRNEmHrh2qsSZSOVUiNK1G2kXdEoIhQbjfhZbNBPWJ2sxfA0tvlqYX8tlqnGI5lnqcVAXLrrszWQ0XN5wfWpbgUCIjwDrXCxtp1qg7-9bEm7jXlDVVE7_-dydxsG25mRItRZPcXj0u2t-pAVHSS7T2qMYZm4g77u5Ma08TfPcwEsKM_3C63qrUkrzJzjjr5gCcVEIbrBaeoPL5LFl32-ncGMygD9jNKcp-xlKbgwk_qou25U49EHaY2vlVe9zMmqLZnNIEOWrdhtFW1JdY7mc3Ilm0Pz3XdJZX0BcFrcQMCHyzP3LOUpa9mfxsSx",
  "id": "rs_0370765beff4ab05016ab49187a5dc87d0ae8ba6fe9e5e751b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.12,\"left_z\":0.17,\"left_yaw\":0.55},\"note\":\"The wrist is returning only gradually, and the cyan bowl remains on the table below it. I’ll use a smaller rotation step to regain a predictable approach pose.\"}",
  "call_id": "call_GQYL06zYTB5pKX38RgRkbWED",
  "id": "fc_0370765beff4ab05016ab49188939487d09d7fcae7ed30bb8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GQYL06zYTB5pKX38RgRkbWED",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5571, 1.9736, 1.5948, -1.214, -0.7868, -1.6379, 0.9958, -0.0216, 0.8249, 0.6067, -0.4305, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.3811 left_y=-0.0858 left_z=0.1254 left_yaw=1.0394 left_pitch=-0.2161 left_roll=-0.0164 left_gripper=0.9958 right_x=0.2898 right_y=0.0001 right_z=0.1626 right_yaw=-0.0031 right_pitch=-0.0805 right_roll=0.0005 right_gripper=0.9971\nstate[joint_eff]: [-0.0889, -9.7162, 5.5316, 0.2418, -0.6813, 0.1734, -0.0122, -0.0889, -1.388, 6.9265, 1.7265, -0.0366, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850fb5ff574ed4c55b4f32377321c966876fb7f1c2ee9eba4eb4a658455b5b3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceba2b3ed41468bf139f9da17b274ec597c35a196dba122dc021f81c92b01ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a143091b78754ca996229b72df10429a370f916ec908e34563d4f134750159d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9203, 1.7943, 1.2301, -0.4397, -0.6495, -0.6983, 0.0985, -0.0216, 0.8055, 0.6052, -0.3931, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3488 left_y=-0.276 left_z=0.1115 left_yaw=-0.0144 left_pitch=-0.1706 left_roll=0.0565 left_gripper=0.0985 right_x=0.2939 right_y=-0.0 right_z=0.1747 right_yaw=-0.0034 right_pitch=-0.0252 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -8.2393, 8.4444, 1.0232, -0.5495, 0.0513, -0.0122, -0.1026, -1.306, 7.1726, 1.7167, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5571, 1.9736, 1.5948, -1.214, -0.7864, -1.6382, 0.9958, -0.0216, 0.8249, 0.606, -0.4225, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.381 left_y=-0.0858 left_z=0.1254 left_yaw=1.0397 left_pitch=-0.2164 left_roll=-0.0167 left_gripper=0.9958 right_x=0.2909 right_y=0.0 right_z=0.1638 right_yaw=-0.0031 right_pitch=-0.0732 right_roll=0.0004 right_gripper=0.9971\nstate[joint_eff]: [-0.0479, -9.7162, 5.3812, 0.2271, -0.6422, 0.1538, 0.0073, -0.1026, -1.4974, 10.0308, 1.6874, -0.022, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5571, 1.9736, 1.5948, -1.214, -0.7868, -1.6379, 0.9958, -0.0216, 0.8249, 0.6067, -0.4305, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.3811 left_y=-0.0858 left_z=0.1254 left_yaw=1.0394 left_pitch=-0.2161 left_roll=-0.0164 left_gripper=0.9958 right_x=0.2898 right_y=0.0001 right_z=0.1626 right_yaw=-0.0031 right_pitch=-0.0805 right_roll=0.0005 right_gripper=0.9971\nstate[joint_eff]: [-0.0889, -9.7162, 5.5316, 0.2418, -0.6813, 0.1734, -0.0122, -0.0889, -1.388, 6.9265, 1.7265, -0.0366, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850fb5ff574ed4c55b4f32377321c966876fb7f1c2ee9eba4eb4a658455b5b3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceba2b3ed41468bf139f9da17b274ec597c35a196dba122dc021f81c92b01ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a143091b78754ca996229b72df10429a370f916ec908e34563d4f134750159d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJGMCb4yC7FA2-OtMJU0bL8kF2JDJoas7wAsr32u_E6ZpV9rOsL9QestBTpMIIb6nrK0bmoLa7aTbXPNguorjrHAo4OIbDDZKa8gT-M88D93pPVo9RSHmwQnRLb4bPYmPm82xUDuN1aiiWrW4OIXUhYiVHAYWwxAIZ0Yb1HutUF2jpD8q0W3WTDU6Qeaa9nw5gWbZRnxzF5p0JDSu-35eHOlgisCPwhnzjtxVWvBM45iSL0rnhnRXnVPRjBWyIb5nUeAfRCK_KbspyztNan3N7jPktj4MDpZQzPURIWwCUO0cSwJZGlpc0TXCWAEYQ6lB1C-43nlP5Bg9cmzr5VnTi1xfDldbPEEP0zZoBlACu1E3DUxVXzHwQ8_nRXkfIdNPE9hJPKINggwayRQte7I8exSjDbn1NWzqb3MbdWB_6pCJnqLhqasUh_wos6f_smC_E5itbxM2n_8pK1AQhWncSOTtO6qnOKf7VQHEyKlolmpobgQZCnqKPuXbN3E_RgJ1MgaR90NiVjHrwnHW50i8FkU9JMl0eZk7OSAtFV-e87LLxqLYhZr3F82o0NZCBkBz6c32AbPmyVQbvRVLvFBFDggmwrjlKIgnENC1_B2OWt7DuA4t7Jpb2xv9ZE0LuxV4XKKjEzaYMV2EH88lCFzFEMsbBGj_9upQVTuCx2FO-yBVfaUUWWz3WvbyXdGHgVDvuXWcy2dlPwIQd77xWTkFZxGH5ZdTSry0v4teZAGvZijBA6pnMmCeiq3ou6tw3vhsc68GIig_6f1yTpLVV85njXA2rY_1u8YCDMXqOVazWL5VoYbS06i-lFdg7NaZmVCvBzmePq2knPN1CWay5aEUBWw1BlWwnDM2rN65vuFRNrVweTxs1rDswBMaOyO2qoicXBPcNEZRwKIWxiRKV5sHCzRontaL7VFYg-18PBTI70Tg9ZqbI7IbYu767_m39BLLOfN4kuQtZs8Q1p_EAjaM_rkgdze7bbM-2lcLw2ncQVYw09f7ugIvjojdX_CL9aG13chL1jrioO37eHDOQAcFuCmBFYjNnZ1MO_qEw4B6bHgxgAPHeOAg40KX1D_M0QMxu-W7YgdbwOqLhwrK3ecU6FLYCzAMuDOn-fT8CHVCD5EYd_o9siaPVR_4rfoSuj-h2VZMySNr64NCQhMaGDWuX1KsE9WcZXo2o-rfYZJFNd2sfta0mYt30LfT3V5dHfgMqtei1wfrLZwAl4Uqo54qmp6Xt7H_YGwyuci1JxSkffCkCV0eFzIENTyLUM8b51mXcEKbRp3OHdw_hQt_weNVXaYoI1xjhFhVY0Qbzfp0upWx06Z8GnQINtomdZjMJwHzTS3nEPYnNpD_uGcctak7WJqQge7GmmoEnNZx3U1LDZpXJj60tQR-PYfShCIHJhS2qJW",
  "id": "rs_0370765beff4ab05016ab4918b34a887d0a9780e98f52805f1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.09,\"left_z\":0.27,\"left_yaw\":1.04},\"note\":\"The arm is not tracking the requested pose. I’ll lift and retract while preserving its current wrist angle to move away from this awkward configuration.\"}",
  "call_id": "call_rf50a9w5W2stjJegMAMIDi4Y",
  "id": "fc_0370765beff4ab05016ab4918bda3487d094394f811a385cf0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rf50a9w5W2stjJegMAMIDi4Y",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8462, 1.7233, -1.5417, -0.7719, -1.7451, 0.9958, -0.0216, 0.8249, 0.6067, -0.4381, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.336 left_y=-0.089 left_z=0.2 left_yaw=1.0406 left_pitch=-0.2267 left_roll=-0.0195 left_gripper=0.9958 right_x=0.2887 right_y=0.0001 right_z=0.1611 right_yaw=-0.0031 right_pitch=-0.0881 right_roll=0.0007 right_gripper=0.9971\nstate[joint_eff]: [-0.253, -9.5795, 6.653, -0.1587, -0.5299, -0.0562, -0.0122, -0.1026, -1.3333, 6.9675, 1.7216, -0.0611, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a6d006c6bd2b38d8aea2bb3b3f58830d1715f41cb5212c8535a5e19fa7bcb60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2e36ce98f5510ec9b0c1fc4dbde4d7de0ab3455783384a0f869c74197b7b685",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:378c1b6867c49320dd63006abd81692b792603d83da2586059c4b85acb2e0a22",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4725, 2.2978, 1.9091, -1.5417, -0.7391, -2.0304, 0.9956, -0.0216, 0.8104, 0.6056, -0.4038, -0.0154, -0.0341, 0.9971]\nstate[eef_state]: left_x=0.3888 left_y=-0.0611 left_z=0.0844 left_yaw=1.4238 left_pitch=-0.1975 left_roll=0.0464 left_gripper=0.9956 right_x=0.2927 right_y=0.0 right_z=0.1713 right_yaw=-0.0034 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9971\nstate[joint_eff]: [1.2513, -11.3299, 5.2308, -0.7937, -0.4664, -0.0611, 0.0122, -0.1846, -1.7162, 7.0085, 1.8193, -0.0317, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5571, 1.9736, 1.5948, -1.214, -0.7868, -1.6379, 0.9958, -0.0216, 0.8249, 0.6067, -0.4305, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.3811 left_y=-0.0858 left_z=0.1254 left_yaw=1.0394 left_pitch=-0.2161 left_roll=-0.0164 left_gripper=0.9958 right_x=0.2898 right_y=0.0001 right_z=0.1626 right_yaw=-0.0031 right_pitch=-0.0805 right_roll=0.0005 right_gripper=0.9971\nstate[joint_eff]: [-0.0889, -9.7162, 5.5316, 0.2418, -0.6813, 0.1734, -0.0122, -0.0889, -1.388, 6.9265, 1.7265, -0.0366, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8462, 1.7233, -1.5417, -0.7719, -1.7451, 0.9958, -0.0216, 0.8249, 0.6067, -0.4381, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.336 left_y=-0.089 left_z=0.2 left_yaw=1.0406 left_pitch=-0.2267 left_roll=-0.0195 left_gripper=0.9958 right_x=0.2887 right_y=0.0001 right_z=0.1611 right_yaw=-0.0031 right_pitch=-0.0881 right_roll=0.0007 right_gripper=0.9971\nstate[joint_eff]: [-0.253, -9.5795, 6.653, -0.1587, -0.5299, -0.0562, -0.0122, -0.1026, -1.3333, 6.9675, 1.7216, -0.0611, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a6d006c6bd2b38d8aea2bb3b3f58830d1715f41cb5212c8535a5e19fa7bcb60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2e36ce98f5510ec9b0c1fc4dbde4d7de0ab3455783384a0f869c74197b7b685",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:378c1b6867c49320dd63006abd81692b792603d83da2586059c4b85acb2e0a22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJGQiC8q1R8Y5VFAytLiL3df_8DEvkdRoJVHS6_sIDsOKz6xTmWZIMhkn7UbSGube563IhKgB60fuTVVyQBijXh7hBf640GqKqWNX5ef3FLw0muoM2cmecNKWZRbyzA-rAM53UTUUQu6MCetD5BT9RRMU_dGWogTkfV0WhoFL0flWGrNlUy7bDI-k6PvO2trnwK3WkQH-ZLN8MeqAvXfnKNvGc4wSSB8feX82M6aFncq4M9iw7fnYI3h6y-I-6VslnQUUKSaYniPuIesDSMvqAYDmWaCrjsf2rTL7nuOijMbruX5ltHElhe5YuOdtEyLJcFMdemTdI4NyDmTYmJhPZgu1eBBF167R4SW-SszqXYVeUoV6L0opBLBm3i4crt9AYnAYqAeEWlr4xzA7hns-63k076mfV3zmlH5cUKdTpHLp_DZxM9GT3hiyhYlVDGTKstMsITwBIdpJRwC9I4mnJoyJI0j0SMepRe10yUziF7nYJQCfi7p5tMSI7Di6SzUuV0zqg5FVmSjIJNB63-a7W8dTTy7iU5Y337ku8Rly6AayFpZNIRSq-tHLIgn7IKQLwt_NNMUhCdu8RXbu650XomV23KusFzRJPYyCrUTHWtk_PTCAShROutgRqWMlSNsKAkHWJead0EUBUiMDVdmUPftomPp2oF29Hj1BXbIPxHrh6q9zYMQm4aznqqIffNWU33NBpz0019JE_wLM9osgHaIUiDHO7IQJrisL7HwuZQGFVupbIhXV92eR-Dy_H3kZJDf4Ts4K2s5GMXjMoZzYp8XdrKBU8XW9AmBfwbx6HrlW0KH8DboolLfnPxRNX75A8cydIZg7TT-IVy7PfprzrR10kTCwiUfDIe3uKjY48r6p-Z0bMfn0Xwssv_PdD33ViM7Sa5Jtc1lc6sxqBs6zF3QdBZJ1rrKZ1QuBOvXvx1lxSWtZMiM6z8MKQY-pHBidv-sPIaoKVVnjBvcwPoAWT79wvwpBrO7krxfFiBxVqOg80t3ZjnC7J52rkFssEah-EXQeGybXbPnP-KrL4CPXw9HpX_cNNTDVEf3ehcFBzRb2EcsW6AUCGqVQIbHJGTZS5Lqswpcip47LLhFFRhTJV2Otxm9T2gqBWSKwo-5RaZ17khNcuMjwT2DY4P85dzRZteD-TJRYl-n4ildp1z2T3pkH_AtgoMh2-u3rH9KbHYkqqPxllvz7BxiE252XQB9Pp8Yt8C5SRX4tAcA3a1m2Io5WCQJ_jw9In0AwrIbYkEjjGcefYFmSB9Ot880X71z3Ij5M4fCxqnIXMK6mkg9F3bdgQ==",
  "id": "rs_0370765beff4ab05016ab4918efb4487d09ca9ba4df4f7defb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.1,\"left_z\":0.2,\"left_yaw\":0.3},\"note\":\"The gripper is now clear of the bowls. I’ll unwind the wrist from this retracted pose before resuming the grasp.\"}",
  "call_id": "call_eaM8u60oQLEOzBrEz3r36nR7",
  "id": "fc_0370765beff4ab05016ab4918fbc0c87d0ad5c7d9499e9b465",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eaM8u60oQLEOzBrEz3r36nR7",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8462, 1.7233, -1.5421, -0.7719, -1.7447, 0.9958, -0.0216, 0.8249, 0.6067, -0.4427, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.336 left_y=-0.0889 left_z=0.2 left_yaw=1.0405 left_pitch=-0.2267 left_roll=-0.0188 left_gripper=0.9958 right_x=0.288 right_y=0.0001 right_z=0.1602 right_yaw=-0.0031 right_pitch=-0.0927 right_roll=0.0007 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -9.6752, 6.6393, -0.1441, -0.5104, -0.0513, -0.0122, -0.1299, -1.4017, 6.9949, 1.7021, -0.0464, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4135efd7832dfa7b5faf9c525809ad7662423dcaa5764600c76136b7ca20a198",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c01d24694c0f5fd490742021a171118f6b7851ac6b7467de46f9472c45f37ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e810a1afdd16a1b91a1c384db1cf9f973925db4da06d6b25bb3cf10c20b54d19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5571, 1.9736, 1.5948, -1.214, -0.7864, -1.6382, 0.9958, -0.0216, 0.8249, 0.606, -0.4225, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.381 left_y=-0.0858 left_z=0.1254 left_yaw=1.0397 left_pitch=-0.2164 left_roll=-0.0167 left_gripper=0.9958 right_x=0.2909 right_y=0.0 right_z=0.1638 right_yaw=-0.0031 right_pitch=-0.0732 right_roll=0.0004 right_gripper=0.9971\nstate[joint_eff]: [-0.0479, -9.7162, 5.3812, 0.2271, -0.6422, 0.1538, 0.0073, -0.1026, -1.4974, 10.0308, 1.6874, -0.022, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8462, 1.7233, -1.5417, -0.7719, -1.7451, 0.9958, -0.0216, 0.8249, 0.6067, -0.4381, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.336 left_y=-0.089 left_z=0.2 left_yaw=1.0406 left_pitch=-0.2267 left_roll=-0.0195 left_gripper=0.9958 right_x=0.2887 right_y=0.0001 right_z=0.1611 right_yaw=-0.0031 right_pitch=-0.0881 right_roll=0.0007 right_gripper=0.9971\nstate[joint_eff]: [-0.253, -9.5795, 6.653, -0.1587, -0.5299, -0.0562, -0.0122, -0.1026, -1.3333, 6.9675, 1.7216, -0.0611, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8462, 1.7233, -1.5421, -0.7719, -1.7447, 0.9958, -0.0216, 0.8249, 0.6067, -0.4427, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.336 left_y=-0.0889 left_z=0.2 left_yaw=1.0405 left_pitch=-0.2267 left_roll=-0.0188 left_gripper=0.9958 right_x=0.288 right_y=0.0001 right_z=0.1602 right_yaw=-0.0031 right_pitch=-0.0927 right_roll=0.0007 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -9.6752, 6.6393, -0.1441, -0.5104, -0.0513, -0.0122, -0.1299, -1.4017, 6.9949, 1.7021, -0.0464, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4135efd7832dfa7b5faf9c525809ad7662423dcaa5764600c76136b7ca20a198",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c01d24694c0f5fd490742021a171118f6b7851ac6b7467de46f9472c45f37ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e810a1afdd16a1b91a1c384db1cf9f973925db4da06d6b25bb3cf10c20b54d19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJGVg96vx1n7EqqeOXUrW49yOonHYNlP2hbb00pDtrIkGBQH1VLXcMjmidsH6Ozrj6aTfs0h-LmadBC4ITFO8N9cTxQT4dlp5c4P0L9eudUQduR-SI7gMAe-_9eGJEy0AlrEwsZzchfSG8qyTx-OSCWL1RND6dsUolva9Jtq0P5jTtnr9D6iyBojAT1z0E_52Qh9sRCX_HKjHJOtakk5FXAS_vJQ0GVGizuOAmrilcdwGzGcj8ZJyFr6QsY-v2tulnvoSRaaR_U_G1ZTk3vcaPkQxLs3oWS2TqOIEnZB3M4Dhpk8eboHLYC7Flb4UCUg7E_uDc0baanLcOQ3lqxjPFNoYPC-c6miq-A5o2Q8IIozx5YsA21SiUY_N1G59UPcapeW75zv0eLJn0fa9FuEOJepOtbpuvUVyihUsUB1elmxE8gn06gaMZYEAeVKdzWaYI5B5D5HKYySoH2wkbJmhYoVcIF4SSm_Oz_i16geHrv96a3MT5tF-l0swbaZUdHc9m-i69_8eqN0Rt2t9OCjO5DWJ1BHptbVdfazcgXAtr__-5wPikvEa6jHGGkngBvxMnNmhgKPWx1V1-tYZsT2rgJdOO2LFEU94cimCdyh-rQV7YFsZm6Pvj-O_3Leezoo7eAZ69NT_WX8O0K8o9I8RJ98wEQeQj27WdE7iljKnVF4r5nTje3Em-U8aoTARRUXTNbX-XxKmqDfjpd2Ne3AzkDMOMWKl1AOxTIUEsDlU-kMU61hIYugaXmK-1cJugr8RxzazgnPitPHVxJK-oroV79pfvdcV2At-2nzTQzRZN00hIAYz-I4y-sKxVyK_Vk612oFldF5anPHqwdPbe7SaJhEylmpcX7AUV6oVXR-yxV4Jae3v8SrNxJU-xRCJS1DWPXXLQkc9aIvwy55kTh84CWWgRzmX09zynE0zoubjVxN6viCjjWIrNpuc6x6PEfg8Jp70UFxjnAuZ0jVCijEoCnbk75sX4HKzKEuLIgmmj8yenIoz4skwjm8Iriu63Ybbnh2M4BU-wWcIfchYlI0PJvKLY6VlhNsQ9SBo9PwtJfTFp2XQ4yLyd-SexcHHT2x5QHM8c5nhFoJCZZt5HvIHJaeoC3rZJCDiKqIavo7VpFHA_2QsiDaoIyl-PviVc1xo0kZvLAmaccwbeTwLYB4lVoxZAtOnX1-TeAEUkKspCWzQT_kKdoYk4Ak1sXCZ8d9Vhwv5sdku7AOgv7YTJC5nJv_6Fs91iqpOTHbRv5LHFXM22dkoaMMv9ncese0Es6UMFI7ydNHODpIeTAvut7-OB4mN4JnOU5K_-XUQbUHd2HM39g3TgP9848SRuY2s_zl_6I2S11aN3CxEjAnpeOyI82Wq2gPlK_HdalLTa8El1JVZtw9LdTNZBIKQu5tKV3yDbkSfbvt_WswdwFFmgVP8601wlzIwgSOVt3FMwWrcnQR0wAvxtBH8rc6PDRlwrmPsA9kX3Pe7EO5rHofHx4M4iJygxN9Yu0NSgS2cVEF1HCVl1eKIQ0Sg_iZuEhZ94xCdxwRgNxmsit2W5_w7Ou1BcshvAipXwLaFTDphnvQkAmGyA1B5wYUIkSwBrlhh5PcbFNhBrOvnNSnlMUxxBUngwKCDArECeqPYqHvqb5NevyKk21B-DzN7bnb7FzpfiVpri2f8y6IIoZphfEoOnWzYxMeflUoHz5CwmzsG3nYJvU6EyRqEmC5kfrXjwxzkbJ_f8yRYwfmKclXYwoMGQf4TckAb_2LwWoZWw4lMTJtkZ1QTgQ=",
  "id": "rs_0370765beff4ab05016ab49192770887d0b9f25625c7b2b6b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.16,\"right_z\":0.13,\"right_gripper\":1},\"note\":\"The left wrist is not unwinding reliably, so I’ll leave it clear and use the right arm. I’m approaching the rightmost bowl to stack it into the middle one.\"}",
  "call_id": "call_Dr45Q4GeQaavCpkXbl2vtltT",
  "id": "fc_0370765beff4ab05016ab4919423e887d09eb258974294fce3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Dr45Q4GeQaavCpkXbl2vtltT",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8462, 1.7229, -1.5311, -0.7677, -1.7443, 0.9958, 0.6064, 1.4254, 0.8009, -0.2176, 0.4332, 0.3466, 0.9974]\nstate[eef_state]: left_x=0.3373 left_y=-0.0906 left_z=0.1992 left_yaw=1.0383 left_pitch=-0.2319 left_roll=-0.029 left_gripper=0.9958 right_x=0.3435 right_y=0.1523 right_z=0.1069 right_yaw=0.0367 right_pitch=-0.1767 right_roll=-0.052 right_gripper=0.9974\nstate[joint_eff]: [-0.3624, -8.7726, 5.5179, 0.0659, -0.4615, -0.0269, -0.0122, 0.1436, -6.3248, 9.3607, 1.7216, 0.3004, 0.2125, -0.2906]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07632b66a00d56c234e1f3444f201c3a3fcbf588107083463824ccd70cb4f1d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7541afac673cb178d2fd7cc4ebf20f8749f6f5f66d01e43abda5556a43d5719",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231cc0b9788f83e49c90bd620b314a27031787ef5e00735b6545f7b8f156b7a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5571, 1.9736, 1.5948, -1.214, -0.7868, -1.6379, 0.9958, -0.0216, 0.8249, 0.6067, -0.4305, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.3811 left_y=-0.0858 left_z=0.1254 left_yaw=1.0394 left_pitch=-0.2161 left_roll=-0.0164 left_gripper=0.9958 right_x=0.2898 right_y=0.0001 right_z=0.1626 right_yaw=-0.0031 right_pitch=-0.0805 right_roll=0.0005 right_gripper=0.9971\nstate[joint_eff]: [-0.0889, -9.7162, 5.5316, 0.2418, -0.6813, 0.1734, -0.0122, -0.0889, -1.388, 6.9265, 1.7265, -0.0366, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8462, 1.7233, -1.5421, -0.7719, -1.7447, 0.9958, -0.0216, 0.8249, 0.6067, -0.4427, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.336 left_y=-0.0889 left_z=0.2 left_yaw=1.0405 left_pitch=-0.2267 left_roll=-0.0188 left_gripper=0.9958 right_x=0.288 right_y=0.0001 right_z=0.1602 right_yaw=-0.0031 right_pitch=-0.0927 right_roll=0.0007 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -9.6752, 6.6393, -0.1441, -0.5104, -0.0513, -0.0122, -0.1299, -1.4017, 6.9949, 1.7021, -0.0464, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8462, 1.7229, -1.5311, -0.7677, -1.7443, 0.9958, 0.6064, 1.4254, 0.8009, -0.2176, 0.4332, 0.3466, 0.9974]\nstate[eef_state]: left_x=0.3373 left_y=-0.0906 left_z=0.1992 left_yaw=1.0383 left_pitch=-0.2319 left_roll=-0.029 left_gripper=0.9958 right_x=0.3435 right_y=0.1523 right_z=0.1069 right_yaw=0.0367 right_pitch=-0.1767 right_roll=-0.052 right_gripper=0.9974\nstate[joint_eff]: [-0.3624, -8.7726, 5.5179, 0.0659, -0.4615, -0.0269, -0.0122, 0.1436, -6.3248, 9.3607, 1.7216, 0.3004, 0.2125, -0.2906]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07632b66a00d56c234e1f3444f201c3a3fcbf588107083463824ccd70cb4f1d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7541afac673cb178d2fd7cc4ebf20f8749f6f5f66d01e43abda5556a43d5719",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231cc0b9788f83e49c90bd620b314a27031787ef5e00735b6545f7b8f156b7a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJGfIwjxiV9T01RRvsbsyoO86tvMeWDV_Ra9u0MZKBE_3DbkVUVXqC6S7BZUrnRGUFk6cIFfLtBUDP4bewvDgE2IK5ptsiNiXdYkw_WS6JDqHKWQ3XiXEwEqk3bNH6jcTXR7O9UDFXfr__dayk2jw3qZM7d8CXT9pIGMGvg7i7d3JBCPT351Lwtvo9mBkM_mtJlthnFs9C--LKpIGRNUJO0_0iVGr8wvFdIhH3abU0vm6th66ujckvY5UAFUWHZl_oe0UQUwMzYtnosxeOfDhiIiqe9KDWIYTrunFkXyHv2UJNfL1dg7uf3OKUnEmYL0mUnTvkZrEJ7-CLpKBWebcvQ8vDeJ1LKnD1kbH8DB-IQl-E8BemuCXCCPV567aAwKBPjjaPTBJ1CrP1zV4Zw4BVAgyoQsmLNqvX4QZhLqRvVNEsSaCGD-LOvHsV-IeMjhDZ-bnvFFBsOTGZeqU0TKzktg65okmGyHyPMjETqSSa7oYeCFSEsiP9Ebk0naL8Mu_hHkd3jq7GSWqMueFaHRmOaOZQc8VJrOzUnvs5vg7z1TNoPhAn5oycsf3vwF-04knkzOpo_fbMbBDW59KkIpgBA3Cnx3PvbeekgJkdk1xI7Sg-zPUo6XF94gqMFD4OfligJPU2hhX0NJHUFQpwdCJBzrLK7jYZgw5CU_itcvl1LRmha05M0yo3bMEUi-QF2uRuycwR8aaHUNv1xl3gDNV4MfVtjXHPL9r2Sid8cBsG-IcahYKVs1f3oWqtiay621WR150nXj8geh5d3CG-jnLqGGVdpDbgB8v-YvNISyiLSH9dlkQef-BHNXKNQDPd9C630v2cEFi0rgZvVO9f54Np0Yf2sdx9DTPABrqYndYwh6lB5wHKzuPwyv0d4StBneNy7Sjn6O8pGJDgwKGnl6mGpbOrzlmue_hFQwZ-I_eZSdXugoeG6-g0H2Sg8vlcphfdHGKaC5673oS6ZvS2JdknWgHbhDsNR8dyiyh4q4bau5at_LOzcac_i1BG_3dSVqadq034mik7627UEMvAnB-h4pOqtc2jFsFJfsNXGuUpvVLpdqEtMW9eQNx98akocZq4tllV8pRCTU96yQFAYkZKHa9X3H7JO6abrsd6Uhobvb-KmC1N5Dd9QID5E2oBTzceE1OjArdwFPaeCpW59ClDRbw27mkLJ-nKA_VilbPbwZvtywuAEOl2F6jfvnXWPMUuvpzZhxV46wLB_7MIB08ps9ClAhikYXRUUZeuBS_QHA4VVRvNIqF_0wPa7P-xsv3gtACCXOXdS0Rwcxk5zQKncYNN331b2j3WcLuuXa_ZBWgcEifQ_KGHvVMSl_evmneqKfEJpDZZtqKNXYx5fhtQVZazsGrdrLjGSjxaKk3v_UeKu_QKBGbA9jVpwpvJKc2xsx8-5S7W4Iw9gotlPjwYUCcFoty9oAtjg6tvJQh1zIDyZvU7A1OQx4YekAsCmx-3hKalu6BxjQRsCDv-yrNEd0CEe7tPhsD_RhpMmQipPRVtSd-MQ_AV_X8E6DN22vgr86Ou62tb1wenP8eMDABhzw2gRHSKK-WdUtPQrCGfWvxN2dCzwngPlkBWL5DzXUc6b-DWkUEN8Fih8P1ndmEwi9aYIcc-vjqrZMzataF0QHh29UCCHT0wRaZI5typ7Gyldnf-VPzUHv3RsinUrTCIBh1YD5mhL1KvYAEYGA5YD4MOLfETf-5LV-GaHvx87ev9T3DY52r83GOOLMdNvnA0-WTgOX46T7fomlsjeCLhdD6hNuqyEUo2nmP_dwVZelpJ9XtTSeFzN1j2tF9R9hUsA7iqj_vlJqmEsgYcybw2z669PuGqxgN1Gm41XpzmnqJI8dprunXR6C5phcPVJu1Lf3i-ArOVgojMM0Sp4Xs3YnymWBppJ00B2_0rLvmLICdsT9i518wbuy33a7ge9cYt5qtUAUpYUy5WqNU5bO1pefVRVHABZi-htn-V8qXiRrZHlm4VYcVNK4RW9xo7XpKZCml6gdnacgFuhR0zG-cWXYAnkpKnvERS8FE4vOWsvFvAayjayO2wtFwQ2QZBai3trYr65bZsJgKCOIau5tuXe50FdVt4S-7f_HTivVAXzla63mg17Izocg6JPmIwmqbAkBPDeUGhbHCmoBBaiinSnOa3FeE7ZN5MfEY5hyzGpxcHLIIy4zeLWVfwOnzLpOCpJT4HKAYS6Gg1dbSIbeNm1sxYvlIpBv3YB5s5spYpRhtiOqhazK6aOgGixbn1PBtzr23Ox2Hj-0Q6PspU0tWzSLX2a96nWCYWQrDr2HR_eI4jZ62TKoK8ZonbtB40RlMTOzfN6zgRIuhJ5ZddDN_z_w8SmvaiP086LjlwYacDRwlwiV2ag0E8AAcM_k6oln2BPekxwKr4-JLL9NuoLa1UR2poyvqt2cbQalgXJ5j7UTyk9m4KwYp0zHN8FjtbGB5Ft5oTZ_HNiI-Ml5lvbDFWb0W4e-hwaI5Pqbv6Qrb8Klm0-L1T9zL-dvKlYzgDevrihOTMi92sVdZexyNvp-OkQsEiLghb2JO56yODj3B4_lEWExPYjHm8PjYWMIhj-2YbaeL0-t7eqE1XQQrFgejzH3xtAswWuVbjj-fuN1J7uNrmgdE7S3qLys5VBF6b2DZGsKojb-BxxQUUB2tGZPRk9-kreBw7hSfv0L0DE5ONcxTWuzLO9_BmwEd00dNRXIs7fYfjdSnLi5pATw-ngW-sMSshQLuXq2FsU69-u_eyCVgVNDevG9jRdufxiRsNkw78YkJqLA1cmg8Z5oRP7excXDRgor9ZYgX6-DbstSwgoGh-QtvqcaDWCPOOpGFxRAxtXf1Y9u2kp93urMWXsAPlKYWA-P_qv0YAFqr88Whs_x0FKb9iioeg0vHaSjQXm_j4pqOHnj4l63DXgEwQDGRT7YlAUa7M5_Cz8PE8cZBrrxz_ybGeFLjSMSPmbwwmP9zZ3eO3aQrKNMOmy36UuWm_aP7PmhsNIvScX1V2YzB7T-vlwzszlh1_K65qJ9pXsFH__gLj4R3qVZHNpAbPvsrlk6NBkW38p77W-p_QrhvqIQQ25i87mPM77SNu1q3XgLBNUszB86PSx0Nbs-Gu3xC2QBrOK0BgDMpKl7hBZei5aCHp7CbAOMLbYK_H8AX4IhlRH5fQuDaZa6Iko7G0mvigyZtaaDLroHHqd_OjG8u9G2zMdqJQ2J8lUV5dmkRkcebFGIvvfkg1Z2zwLmTMhSdVPSY0NZ0s-v6FEB4iDPm-GGFwOkO7QR_PlO0WPmJFE-8idrCZ4D1KhFUqNDFdAmpx4DVBQsdE9io9vaAAlyqHTyKNA9Q83gu7Ck-_AlMG3OsHKqU6OuFt7GogPrcdNmmcKsrggm687IOyfg_ys80N2YE_zNw5scs6rKUx4AWIBGVseiPw==",
  "id": "rs_0370765beff4ab05016ab49198264487d0904295a189dee84f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.105,\"right_z\":0.045},\"note\":\"The right bowl is centred in the wrist view. I’ll advance to its side wall, shift toward the outer rim, and lower the open jaws around it.\"}",
  "call_id": "call_L1UWkFJngEnTeRc6tnBbvWgF",
  "id": "fc_0370765beff4ab05016ab4919e73e887d0a633c858c0c1e6c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L1UWkFJngEnTeRc6tnBbvWgF",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5257, -0.7605, -1.7447, 0.9958, 0.3702, 1.6711, 0.7441, 0.046, 0.2962, 0.1879, 0.9971]\nstate[eef_state]: left_x=0.3376 left_y=-0.0919 left_z=0.1981 left_yaw=1.038 left_pitch=-0.2396 left_roll=-0.0336 left_gripper=0.9958 right_x=0.3843 right_y=0.0977 right_z=0.0305 right_yaw=-0.006 right_pitch=-0.2647 right_roll=-0.09 right_gripper=0.9971\nstate[joint_eff]: [-0.212, -8.5128, 5.5316, 0.0855, -0.5348, -0.0171, -0.0122, -0.3487, -7.6376, 6.5573, 1.8046, -0.0904, 0.0904, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a57ff4ec6b7dcc54e039d3115168f6df04333347204be7800c775a4594b30f2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a0549dc5dd22c840a412abca27c6aab440f541f3d0dec01ed46ac3e69b7544",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f213f66bb56155be88125a3efdf9f39a11af8fad8a602ac406432bdefe4daa26",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8462, 1.7233, -1.5417, -0.7719, -1.7451, 0.9958, -0.0216, 0.8249, 0.6067, -0.4381, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.336 left_y=-0.089 left_z=0.2 left_yaw=1.0406 left_pitch=-0.2267 left_roll=-0.0195 left_gripper=0.9958 right_x=0.2887 right_y=0.0001 right_z=0.1611 right_yaw=-0.0031 right_pitch=-0.0881 right_roll=0.0007 right_gripper=0.9971\nstate[joint_eff]: [-0.253, -9.5795, 6.653, -0.1587, -0.5299, -0.0562, -0.0122, -0.1026, -1.3333, 6.9675, 1.7216, -0.0611, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8462, 1.7229, -1.5311, -0.7677, -1.7443, 0.9958, 0.6064, 1.4254, 0.8009, -0.2176, 0.4332, 0.3466, 0.9974]\nstate[eef_state]: left_x=0.3373 left_y=-0.0906 left_z=0.1992 left_yaw=1.0383 left_pitch=-0.2319 left_roll=-0.029 left_gripper=0.9958 right_x=0.3435 right_y=0.1523 right_z=0.1069 right_yaw=0.0367 right_pitch=-0.1767 right_roll=-0.052 right_gripper=0.9974\nstate[joint_eff]: [-0.3624, -8.7726, 5.5179, 0.0659, -0.4615, -0.0269, -0.0122, 0.1436, -6.3248, 9.3607, 1.7216, 0.3004, 0.2125, -0.2906]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5257, -0.7605, -1.7447, 0.9958, 0.3702, 1.6711, 0.7441, 0.046, 0.2962, 0.1879, 0.9971]\nstate[eef_state]: left_x=0.3376 left_y=-0.0919 left_z=0.1981 left_yaw=1.038 left_pitch=-0.2396 left_roll=-0.0336 left_gripper=0.9958 right_x=0.3843 right_y=0.0977 right_z=0.0305 right_yaw=-0.006 right_pitch=-0.2647 right_roll=-0.09 right_gripper=0.9971\nstate[joint_eff]: [-0.212, -8.5128, 5.5316, 0.0855, -0.5348, -0.0171, -0.0122, -0.3487, -7.6376, 6.5573, 1.8046, -0.0904, 0.0904, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a57ff4ec6b7dcc54e039d3115168f6df04333347204be7800c775a4594b30f2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a0549dc5dd22c840a412abca27c6aab440f541f3d0dec01ed46ac3e69b7544",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f213f66bb56155be88125a3efdf9f39a11af8fad8a602ac406432bdefe4daa26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJGk1l3YKEnpPhRgQ8Ikwm1PsDVguiI9cIBg_OCIjMJUwE2xoUpIGigYJLP2Xf9oFeXDyc7_KU4xQ_KMkRfP5KoS1NKhUEqXd6df2VSrop8ZW_gLtoOxFYWTohLMpT7E8Gygo6-H7Trpb-Rg7SCSFA6uoGibuVuBzGKXEQ0SzYHdpzuqO_HKlXcARSv9fTCNBL43LPBjP1HwBjHT43OyK-Q0oiEyc8iVdPF5Came3vZoy9oe6bbPSiK_YrGlU73sKqZwNi9zvSBG9VM3ZjozbXS5WYTkBYJpSXvqqcRzW0ul-OXKisd1ytTUoXXiroIumY8ioDjsxBXsnkPzPcKhfl1TGjZqJ-i8yCSGEl64DvrrvgP-UuCvBG6ZnS3MXSwdNsy0CfcFTJx00-GcpIyBN0tbXwhK33QkscbUO9oeN1EQkpZrgX75N3ugGCr25FADO5Wqv7sfWmH7881BUBY-GmNjxMVI30pFWoqNJG1YV6699pWygNzALGwq01FvsxrNEW-NhxoqavHcYxWx93gemd_sthpexlOWYgxxVGS1Ba1emr-WfIVUjpBmlqi9sLnDewgIIiO3ajvv5kGLAIhqcslMOzs1x9SChoPASbW2KljwC-H54VyYdNfwP16BNO-G19s60BBCPAXmvrpJgd4yRvGUzRN8g1uCXpmltiPTmcMvi_noxGD2i7KvdEBnR8N-vLEQELRuz-r8bnxKEOpA4w_yVcAtWE0BmUsBXCQKzxw_uxd01YnUpYzozDgYRsJbcJUrLUTfICbrm3RttydhCEIR9cmkvUjYK7tjhnHDhBSRpbY_AXhHA96GwIF8HmdQwPgS4vya7Df9NqQBh3MH51QhdV-tIvc6ghe-JeeWln6zTFFuZSBTlD4v5S6fAQfxqJJO9LgT5JTRhn9bFzgLoxucV3pAKpSCaSVczVdu3VpVR8YVExnAu08QWCvYrwkwwSbtyalKt0MvMwiIVXG0eveR6m5L3PSQUT5evVxK0qenTfuLc4w_w9CAw2r8thfBQ8hPbUpU9UNsFUokbmjN1Paw-1MNjLuYKSnlJB1dork09EUWaMEgwU_CFK4kgssVQDVoJEn5FMAsKyleydMiz2QzCPVB1nRGsxEsiOi5ePZOjFjAsqeJNWLxQTnfR0aLXIeItIYaPjdfzjdQC4ZSAYDIiahpRUm_c9YSdJmsmuwWtoawXPtYH30SeHHC65lx5kCcd4HtAujE9LGnzfBCmEanBeQ5bGt6vk6CqzFARl8fXr57b_uUe4g87YbQWn6RBs8Y0dXN_HP0BeBe3L1REHisrtVFMKC_L9SIruKhPNGrIbEzUrkzxjiOt8kHV2v3ZH6tpX3bo-uX0DJDWRabc3VBaCkqCT7q44PkXI4CizdWjPUyFw_QybIugUqhHTeJd21GRsLTTErnch2w4ha3V5O6ZBPZPFOFTnAynBiRl8FI08SVCxuxyBf4jH_iUamjRUc2fnqDEnklj7FhH0x1qPAKktuuddtsqYUJK4ueqafHt1Yl2xyscSomkKFXeqoilsYOclEEEUcQw7maSXq9DDpzd5YnH2ViaL10xAs9k2xhuXUdDCCT_t_gt_wKGARyw0Lr7VDhKHazz9dxbcoL2044VM9VCV6JbQyuHFHWUgz2lfNf228JQLF15Ct6Lbc-Eo5Ld7bRqFbzCpnsUEKzDE7NtDfDbuKQbICf-A8mQWiKBpoGauTGuq657UUlXcz0jmrFDAs0zsowtChErU4Ljkqxn6nzydP5FWnsjVLklGynkFhjp_In5YzAchNdpo0gyL_FvLBBeVI-CXuXBZY_0Da50fIGvWBuYQbeNgliAUHCXHq1IuJAIZ9aR0Zuicy0hi8ei58A1QJCRUEX1yobyV9RFy_06gStgkiuq-HV2RUP4loJbDHcdYSNu1acPadsftmi-wlRHU5I5UmZjAIUqNVcvfTsK0vyZ6F0_yBZIoCLCtQtbHhJHgQ1o5XgtzdkUeW7Edm2spuGwTC14K5qJRpei_XDxZUyI8w2U8kCTNU7RB0=",
  "id": "rs_0370765beff4ab05016ab491a1225087d082016c918bea9317",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.087,\"right_z\":0.025},\"note\":\"The bowl’s outer wall is just to the left of the outer finger. I’ll make a small sideways adjustment so the closing jaws pinch the wall rather than push across the bowl.\"}",
  "call_id": "call_hCyjqc2NI4AinHzNEeg5cyPl",
  "id": "fc_0370765beff4ab05016ab491a403f487d0a74b328801666838",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hCyjqc2NI4AinHzNEeg5cyPl",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5253, -0.757, -1.7447, 0.9958, 0.337, 1.7073, 0.7479, 0.0975, 0.2493, 0.1394, 0.9971]\nstate[eef_state]: left_x=0.3373 left_y=-0.0923 left_z=0.1977 left_yaw=1.0383 left_pitch=-0.243 left_roll=-0.0337 left_gripper=0.9958 right_x=0.3934 right_y=0.0955 right_z=0.0244 right_yaw=0.0288 right_pitch=-0.261 right_roll=-0.0822 right_gripper=0.9971\nstate[joint_eff]: [-0.0479, -8.5538, 5.5316, 0.1538, -0.4176, -0.0269, -0.0122, -0.8274, -6.4615, 8.1436, 1.4579, 0.188, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cbddb1cd1e06b91965f3c1e7a08bceb66121740b983289fc67dcd7f14bfa236",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b154b5f99d3a9544831d02d68b4dcfb892357c651052a87872481a38f0e296fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c756a9ff9137088c58aa2753a1f94c0428c7f959feac405e533be20ba4fe9b53",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8462, 1.7233, -1.5421, -0.7719, -1.7447, 0.9958, -0.0216, 0.8249, 0.6067, -0.4427, -0.0154, -0.0345, 0.9971]\nstate[eef_state]: left_x=0.336 left_y=-0.0889 left_z=0.2 left_yaw=1.0405 left_pitch=-0.2267 left_roll=-0.0188 left_gripper=0.9958 right_x=0.288 right_y=0.0001 right_z=0.1602 right_yaw=-0.0031 right_pitch=-0.0927 right_roll=0.0007 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -9.6752, 6.6393, -0.1441, -0.5104, -0.0513, -0.0122, -0.1299, -1.4017, 6.9949, 1.7021, -0.0464, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5257, -0.7605, -1.7447, 0.9958, 0.3702, 1.6711, 0.7441, 0.046, 0.2962, 0.1879, 0.9971]\nstate[eef_state]: left_x=0.3376 left_y=-0.0919 left_z=0.1981 left_yaw=1.038 left_pitch=-0.2396 left_roll=-0.0336 left_gripper=0.9958 right_x=0.3843 right_y=0.0977 right_z=0.0305 right_yaw=-0.006 right_pitch=-0.2647 right_roll=-0.09 right_gripper=0.9971\nstate[joint_eff]: [-0.212, -8.5128, 5.5316, 0.0855, -0.5348, -0.0171, -0.0122, -0.3487, -7.6376, 6.5573, 1.8046, -0.0904, 0.0904, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5253, -0.757, -1.7447, 0.9958, 0.337, 1.7073, 0.7479, 0.0975, 0.2493, 0.1394, 0.9971]\nstate[eef_state]: left_x=0.3373 left_y=-0.0923 left_z=0.1977 left_yaw=1.0383 left_pitch=-0.243 left_roll=-0.0337 left_gripper=0.9958 right_x=0.3934 right_y=0.0955 right_z=0.0244 right_yaw=0.0288 right_pitch=-0.261 right_roll=-0.0822 right_gripper=0.9971\nstate[joint_eff]: [-0.0479, -8.5538, 5.5316, 0.1538, -0.4176, -0.0269, -0.0122, -0.8274, -6.4615, 8.1436, 1.4579, 0.188, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cbddb1cd1e06b91965f3c1e7a08bceb66121740b983289fc67dcd7f14bfa236",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b154b5f99d3a9544831d02d68b4dcfb892357c651052a87872481a38f0e296fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c756a9ff9137088c58aa2753a1f94c0428c7f959feac405e533be20ba4fe9b53",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bowl’s wall is positioned between the jaws. I’ll close on it and then test the grip with a short vertical lift.\"}",
  "call_id": "call_m4hFOKCnRnln2jzOLmkUi2L6",
  "id": "fc_0370765beff4ab05016ab491a66e1887d0be9a8f10782f919d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m4hFOKCnRnln2jzOLmkUi2L6",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.523, -0.7567, -1.7443, 0.9958, 0.3405, 1.6939, 0.7502, 0.128, 0.2192, 0.149, 0.0389]\nstate[eef_state]: left_x=0.3377 left_y=-0.0926 left_z=0.1976 left_yaw=1.0376 left_pitch=-0.2436 left_roll=-0.0357 left_gripper=0.9958 right_x=0.399 right_y=0.1044 right_z=0.0343 right_yaw=0.0557 right_pitch=-0.2231 right_roll=-0.0395 right_gripper=0.0389\nstate[joint_eff]: [-0.3077, -8.5538, 5.6, 0.1099, -0.4664, -0.0317, -0.0122, -0.1436, -5.6, 5.5453, 0.8376, 0.4469, -0.1197, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b607c872f62ad6335fa7a2b6d674523abe97e895ece99ba0301bead0dc674962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e290615e69bc58ac8e692c2789aacc2330d6ae11edb577db1032afe970d6d33e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9150565a9b7ae8f0c5f8a8d5e077ddae590a3ecb0f442bdad776234c89309c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8462, 1.7229, -1.5311, -0.7677, -1.7443, 0.9958, 0.6064, 1.4254, 0.8009, -0.2176, 0.4332, 0.3466, 0.9974]\nstate[eef_state]: left_x=0.3373 left_y=-0.0906 left_z=0.1992 left_yaw=1.0383 left_pitch=-0.2319 left_roll=-0.029 left_gripper=0.9958 right_x=0.3435 right_y=0.1523 right_z=0.1069 right_yaw=0.0367 right_pitch=-0.1767 right_roll=-0.052 right_gripper=0.9974\nstate[joint_eff]: [-0.3624, -8.7726, 5.5179, 0.0659, -0.4615, -0.0269, -0.0122, 0.1436, -6.3248, 9.3607, 1.7216, 0.3004, 0.2125, -0.2906]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5253, -0.757, -1.7447, 0.9958, 0.337, 1.7073, 0.7479, 0.0975, 0.2493, 0.1394, 0.9971]\nstate[eef_state]: left_x=0.3373 left_y=-0.0923 left_z=0.1977 left_yaw=1.0383 left_pitch=-0.243 left_roll=-0.0337 left_gripper=0.9958 right_x=0.3934 right_y=0.0955 right_z=0.0244 right_yaw=0.0288 right_pitch=-0.261 right_roll=-0.0822 right_gripper=0.9971\nstate[joint_eff]: [-0.0479, -8.5538, 5.5316, 0.1538, -0.4176, -0.0269, -0.0122, -0.8274, -6.4615, 8.1436, 1.4579, 0.188, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.523, -0.7567, -1.7443, 0.9958, 0.3405, 1.6939, 0.7502, 0.128, 0.2192, 0.149, 0.0389]\nstate[eef_state]: left_x=0.3377 left_y=-0.0926 left_z=0.1976 left_yaw=1.0376 left_pitch=-0.2436 left_roll=-0.0357 left_gripper=0.9958 right_x=0.399 right_y=0.1044 right_z=0.0343 right_yaw=0.0557 right_pitch=-0.2231 right_roll=-0.0395 right_gripper=0.0389\nstate[joint_eff]: [-0.3077, -8.5538, 5.6, 0.1099, -0.4664, -0.0317, -0.0122, -0.1436, -5.6, 5.5453, 0.8376, 0.4469, -0.1197, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b607c872f62ad6335fa7a2b6d674523abe97e895ece99ba0301bead0dc674962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e290615e69bc58ac8e692c2789aacc2330d6ae11edb577db1032afe970d6d33e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9150565a9b7ae8f0c5f8a8d5e077ddae590a3ecb0f442bdad776234c89309c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJGqW7pf39dALPGqrPjtqoSWSpuGNJqm4b8HfHYxkyDpkhc8gIDoV0LLyhaevyEBD5ByPb_0AUyD17JEBnUPHf8rljy5FWjxlH4keTIKEb4PJb5ccM66k4KtNoCu22EfMFSG75UUNeOTT5gbNFAakUZaVA_BlZht3hwBi9TBBCVDPbopJbc1iZCrEvp2YiJ91tmKBLfk8ZmGewCVy0rZmth22F410sKskMfDRpiArVJl19nw4ZWY8hx46GXq6GK1gL7KSMB6DJ6Weax4yY1yiZJt2xZosOcLJxhCrs6VYSNFJ9pK6iCrBVon5qO5VRQOpLKdcVk1rQ79zm8L9r47KsaazACFZVs0h2kAS5StT4rnsWOeb1wfcCCH4qpJ82mOsdzxjTFH0xTfaHYDp2Sc354jNMN8ELP2ytgfpIofk1bwKjassherdDXfYLBsmuVah3MHfloXBjRMGmVQVE5xLA8NYeCVRZFAhxdU7N53UBTk9auuVYLhGfOR6YxHGO-sfcmihb7LZE-M6S07yG79-16uRrlexcgb27aM9qAQv3hQqurqJ-G-jmNe1M3S29pV0towCfh2_x7AMEnAdkrPH9bAbyLeOEsDLY3TXQvjn5GKBjsXv-jH5D8iQxsSY0MS1HrgckQT5y0AQb6867Yjqf2FnOwff9UnybmdvczC5djZN6YdClDEJgZluL6HwNmmTkh_Kko2V9OIaZvRawDKUx9eVN38jqcVZqxZBe09btH2z0_sMEDWbTgPkHOmXlSzKsja3Tjw0_YnLm9FAOpSLiP7lLGX0ONYleCsJbLtw4mMPdHN2jjYvpJ8jL7eQqionBy7dQeWas9sNHbOtM54-ZOujTlDIG6Un9jyzQayGHQF8P6ULiUUbebmu6DfW7rjxkrRAcGvgmPYvciP59i02yAFFm6_93XrtbvGARig27sZ5uU5a0zhwB5tQSlCnkov0WhxX5rsVqzWk23lGebRpOfPv-FIE9BN5MCVN4lqnu1qHMGzbncrKDGxul8k0BWjbdrJvASWe6iNVc1ygjgP8j6g6Bhw3b_6g5Xdoj1gBaSkM0C0l0sH1GjJWfL3d9HL73ZzwtqfeD3fO8wYryWclCgXtWaMReW1cniFHF_tkdOvBirl-PjEvV1ZFZGHBqSuqirhQY24CnDlZ60eje7v5bhvqUuIQQ0cMaV5Q7HFTwwib6TRynLPflwvdx5kbJUfdQyZBY3xkenood16h0dW5aZhz3TkZVa-iSAi71a5d6VQkxBwH_PD5YpwMAZGNJSn0EF_lU9PfLY-sz3matoK4a0pZBHl005Nt2sSw1G9TRDjbVQ=",
  "id": "rs_0370765beff4ab05016ab491a97d4487d0ab05c095c40ab667",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The closing gap is very small, so the grip may be empty or only catching a thin rim. I’ll lift 5 cm and check whether the bowl rises with the jaws.\"}",
  "call_id": "call_kLTEPzS64n7vjZa86tpv8m8c",
  "id": "fc_0370765beff4ab05016ab491a9f21087d08795d37cc68e4efc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kLTEPzS64n7vjZa86tpv8m8c",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5227, -0.7567, -1.7447, 0.9958, 0.3393, 1.5959, 0.8211, -0.0799, 0.2184, 0.1368, 0.0412]\nstate[eef_state]: left_x=0.3377 left_y=-0.0927 left_z=0.1976 left_yaw=1.0377 left_pitch=-0.2437 left_roll=-0.0364 left_gripper=0.9958 right_x=0.3915 right_y=0.1014 right_z=0.0646 right_yaw=0.0593 right_pitch=-0.261 right_roll=-0.0588 right_gripper=0.0412\nstate[joint_eff]: [-0.1983, -8.759, 5.5453, 0.1538, -0.4176, -0.0269, -0.0122, -0.0889, -8.7453, 9.5111, 1.8437, 0.0757, 0.0952, 0.8913]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:088d9a6d30347cbe16a5bd54e8c14b1fc41477f7937ef289a49f7d17f06f78ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c503e90370ee7a84f2414158a50b7b29811a857d6115459abc1f7657bd3322fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c4e53729a118af9b48ed0a4675a2d973c91348efbbdea19123150fe77a2dd97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 69 changed as sent

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5257, -0.7605, -1.7447, 0.9958, 0.3702, 1.6711, 0.7441, 0.046, 0.2962, 0.1879, 0.9971]\nstate[eef_state]: left_x=0.3376 left_y=-0.0919 left_z=0.1981 left_yaw=1.038 left_pitch=-0.2396 left_roll=-0.0336 left_gripper=0.9958 right_x=0.3843 right_y=0.0977 right_z=0.0305 right_yaw=-0.006 right_pitch=-0.2647 right_roll=-0.09 right_gripper=0.9971\nstate[joint_eff]: [-0.212, -8.5128, 5.5316, 0.0855, -0.5348, -0.0171, -0.0122, -0.3487, -7.6376, 6.5573, 1.8046, -0.0904, 0.0904, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.523, -0.7567, -1.7443, 0.9958, 0.3405, 1.6939, 0.7502, 0.128, 0.2192, 0.149, 0.0389]\nstate[eef_state]: left_x=0.3377 left_y=-0.0926 left_z=0.1976 left_yaw=1.0376 left_pitch=-0.2436 left_roll=-0.0357 left_gripper=0.9958 right_x=0.399 right_y=0.1044 right_z=0.0343 right_yaw=0.0557 right_pitch=-0.2231 right_roll=-0.0395 right_gripper=0.0389\nstate[joint_eff]: [-0.3077, -8.5538, 5.6, 0.1099, -0.4664, -0.0317, -0.0122, -0.1436, -5.6, 5.5453, 0.8376, 0.4469, -0.1197, 0.8327]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5227, -0.7567, -1.7447, 0.9958, 0.3393, 1.5959, 0.8211, -0.0799, 0.2184, 0.1368, 0.0412]\nstate[eef_state]: left_x=0.3377 left_y=-0.0927 left_z=0.1976 left_yaw=1.0377 left_pitch=-0.2437 left_roll=-0.0364 left_gripper=0.9958 right_x=0.3915 right_y=0.1014 right_z=0.0646 right_yaw=0.0593 right_pitch=-0.261 right_roll=-0.0588 right_gripper=0.0412\nstate[joint_eff]: [-0.1983, -8.759, 5.5453, 0.1538, -0.4176, -0.0269, -0.0122, -0.0889, -8.7453, 9.5111, 1.8437, 0.0757, 0.0952, 0.8913]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:088d9a6d30347cbe16a5bd54e8c14b1fc41477f7937ef289a49f7d17f06f78ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c503e90370ee7a84f2414158a50b7b29811a857d6115459abc1f7657bd3322fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c4e53729a118af9b48ed0a4675a2d973c91348efbbdea19123150fe77a2dd97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJGwPTsAw04c2HJa7kvFxFDHZxo4vvRjA6mh6cNDBcHOZfHKKdmp2IsxwHLRqS1F314TN40z7g4fw-uMqSM0EqJm6HSYRBPSN2Lp3oTQV5YXuFE-QVfft0mGecSaqI_1sw3tsRHY671vS0fNwsUP8imi_-C5rq6jZ3U2NiVkwJEDhfq5frw1s61SFmo5XoXOxj8sJrUE6zMPXprIqyazMbypHnak2wUDz0Seih93KHVSFS2YbQbuvRofNdFEQoESY5rvDnlv01pyaiYOVIAFnSdziJO4UMYxHq04H-VBEaBZNY3zxug5O8pe7c60fFS0GTBfzj5uNfkkwk_EDIunvpztLCNBng9pRXh1juQ88hbYtgCYFeBZZsLsl8ZblsYS4QS5Ss21n9260O5lMHIl2B-2vTPwMS30zx8dJiVSVdLAEIN0hQNWYzNahDhhVMj1XhEH_ZFwt-2hP1w8VRws08Mb6FGuXJVfBEAKwiE8SHghARYzPrWFARBJalDsZZ60OtZ4D3OIBtUzeIKX2xXHl5X50pMseuL8rxrxBQpXuRGLvUlF9JCDhEjA7b69nEF2Q3gGzMRef6R-2LQcbHvIHhvIlsYSDDGVJwik-cmrb1GgKZp7CxyOF1-vBxmilQodmSwiY5gZD3KCNcERW3MNbctv9805viG931oyjMVBojV0oRkPqwGkQApQ5Ow8EZcFjYlRfrW-JlU4_e0Z7tgdi7R5ibCmOskT9NOzl4_vNnX7l85GSZvrJ0EotOc4_RIcMmrGDfrfpG2mB3PagjYs33uN534HaqHqAwTzteppWSnavCo-qriNzfJPTe1uGhxxfQhU42ym9tNE6WGK0kKNEjDdUaZojqXOWIXbH9bVZETd5PDoyU3hyKC0Gfs6yv3wKNVxmk1LnGMGZYi2CYJtjnEdBsZWItuu_GLfcKdPfJhHCakoBuN8V8r6KFfRdRe3udTAUPletRaFQrwRuYqeaEsMJ11i4cbPFF21BRPyRSa1gVikn7iWLyUjMQbTEWkSvJCdxql90Ffxy6tcO2N8suarvbfzYRETFu36MIn6UvnyKE-mA6JCUaxUDSh8jSzFrUXEA3_mRqYOo8JjCS-Dks1xEyOhPzeISZsq07tpTyWQ64FNjUX9nOZCku6GNJ04h8O5aEhV9JOnPbovguV9nziRpjf8BTtAQPh2ZOUqUHSBB0BoPKDfJBtC--oQYnJVbag0w2fcIsEZQEumvRQwIHMUHTtadLisLbFwEY0oEPw4eN3hgKbf623ggBcgTRS2E03OSmaHlp3bmaunHZFoK0AS3EUxexxJLFmceTJPwh2PDOa6bqdUYcC5nfjzb5QEOnYjsKellq18jcJ0eI3fxosfT7Hj04VJULPKqRDbS3rgTRsBqxqOXVOsHzV7PAtqPNxhoy4Zy8NuKrSvvZhUvZxgwUCtBjIjkxA60QuNxNWnWgCAAgiJJuOiDY1xRI-d1OkS88G4hMlO-SHWfaMqcQ-vHHcIoJaBS7nV8FOmVs1RMUUlbnE3s0oovLluJuLEs3kY5olZ0ck2j6dJEv953ztrIt6QfoffOmHkqze_BjvqWmYoKIg3PmQSi8aURlWHo8ye146_rW2M0_fuermmerxNnxKyXKV5eYxCyqIiVABYHf60BYohfrM4gopQ8kOS8AtFQSYGkVXUAGIkOuB3NadqDMtSOwpafgEJZ1o4kZP8OxwHeDRlmfMNvWn6R0BcapVHXAwwnLPQbjWU3YT0ce8svKpXBKlpKtSVF-80cszgR7ffOWgpZ07NZ-2413VIbrU0WFNejzJSwgaqIfoa5cXt2wEOHnzVk9k04Tor_P4jgW7h6M1h3QPXC8sxdX5_hQ0QxIN1-UakR9ePNCkbcGu2oQRwMQum7MNNzluHThxznIL77SqNLwMGCAaSmLZQvupASluNDSw9-vq6GV0_YJknBvzcv5ugBPCaHWNq5bLH_bQ=",
  "id": "rs_0370765beff4ab05016ab491ac921c87d0bd875c27dfe953be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.12,\"right_z\":0.065,\"right_gripper\":1},\"note\":\"The bowl did not rise, so that close missed the wall. I’ll reopen and move slightly forward and inward to capture more of the side rim.\"}",
  "call_id": "call_36vpCGwefjvVhDMd9vZUURnX",
  "id": "fc_0370765beff4ab05016ab491aef08087d083f95c685a6dea2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_36vpCGwefjvVhDMd9vZUURnX",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5143, -0.7563, -1.7443, 0.9958, 0.3523, 1.7416, 0.9497, -0.1345, 0.2203, 0.1299, 0.9955]\nstate[eef_state]: left_x=0.3391 left_y=-0.0937 left_z=0.1974 left_yaw=1.0354 left_pitch=-0.2449 left_roll=-0.0447 left_gripper=0.9958 right_x=0.4113 right_y=0.1139 right_z=0.0462 right_yaw=0.0684 right_pitch=-0.3297 right_roll=-0.0858 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -8.5675, 5.5726, 0.0708, -0.359, -0.0269, -0.0122, 0.1436, -7.6513, 9.5658, 1.619, 0.0806, 0.1099, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78acca876bf8a105d43b20330dfa63fff8ff61a7ff48f16010b8d55e68134c88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f31962358e6b987d02d5368c473d4387d0457adb644e234eda56961dfacfe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4262bc6179717eda7a6907b984faa720f060e55d92d6115a79ada10022fa3086",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 73 changed as sent

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5253, -0.757, -1.7447, 0.9958, 0.337, 1.7073, 0.7479, 0.0975, 0.2493, 0.1394, 0.9971]\nstate[eef_state]: left_x=0.3373 left_y=-0.0923 left_z=0.1977 left_yaw=1.0383 left_pitch=-0.243 left_roll=-0.0337 left_gripper=0.9958 right_x=0.3934 right_y=0.0955 right_z=0.0244 right_yaw=0.0288 right_pitch=-0.261 right_roll=-0.0822 right_gripper=0.9971\nstate[joint_eff]: [-0.0479, -8.5538, 5.5316, 0.1538, -0.4176, -0.0269, -0.0122, -0.8274, -6.4615, 8.1436, 1.4579, 0.188, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5227, -0.7567, -1.7447, 0.9958, 0.3393, 1.5959, 0.8211, -0.0799, 0.2184, 0.1368, 0.0412]\nstate[eef_state]: left_x=0.3377 left_y=-0.0927 left_z=0.1976 left_yaw=1.0377 left_pitch=-0.2437 left_roll=-0.0364 left_gripper=0.9958 right_x=0.3915 right_y=0.1014 right_z=0.0646 right_yaw=0.0593 right_pitch=-0.261 right_roll=-0.0588 right_gripper=0.0412\nstate[joint_eff]: [-0.1983, -8.759, 5.5453, 0.1538, -0.4176, -0.0269, -0.0122, -0.0889, -8.7453, 9.5111, 1.8437, 0.0757, 0.0952, 0.8913]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5143, -0.7563, -1.7443, 0.9958, 0.3523, 1.7416, 0.9497, -0.1345, 0.2203, 0.1299, 0.9955]\nstate[eef_state]: left_x=0.3391 left_y=-0.0937 left_z=0.1974 left_yaw=1.0354 left_pitch=-0.2449 left_roll=-0.0447 left_gripper=0.9958 right_x=0.4113 right_y=0.1139 right_z=0.0462 right_yaw=0.0684 right_pitch=-0.3297 right_roll=-0.0858 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -8.5675, 5.5726, 0.0708, -0.359, -0.0269, -0.0122, 0.1436, -7.6513, 9.5658, 1.619, 0.0806, 0.1099, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78acca876bf8a105d43b20330dfa63fff8ff61a7ff48f16010b8d55e68134c88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f31962358e6b987d02d5368c473d4387d0457adb644e234eda56961dfacfe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4262bc6179717eda7a6907b984faa720f060e55d92d6115a79ada10022fa3086",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJG4l02bMtb95yEwEQzSY6IPdVcLx3C-Kk-qf2kzZlyt60tkIbPGO1lyo4LRgD14jBeY-mf3NmMcGAwvmJKcHDe2bd7cnOmwYRPC7SKv87EdYDEVkPTtqLJyEeKD3vcfEID75GgCl2AX7WO6y2h0LTyV_ihgcRBGb73r5i2IPPZcW8tboGcB_n80pvdtCSn9d2QiA2F5G0eEjUkNMK-FdEWaIs1JlW_tB2Dhf8ly8Ir08yQLWWWbUqtq2qM9kcMIKzGf3niInaxu9UJyXTU03hPmfTf1Ky7jysyzuJO4ZfLfAPOeeOdPQbsST2zaJrTCEKKipZor-pt6ZkmdyjCNlwcFpAWtmWl0cR9M2U0AeyfRv44yM_8xM703Qenz-e41kAjzTeDWswWjMr_2IC50Rrx5NFUUIt7d7vb4V2I4aeRd7Fjp4kQDU2QPLrFNUQn7FLfqBhoauBQIH9XTw78AuFTx6eJ702AlOMXZNiqcPAetD2uwodoeRaH9Ta_H-152355fkdzv9wbmDlibQiqHLpGKC0WtvDcFLDuZrwMVpOh6WI4cs4BElLyA4gqNqbYPRFyHNMSk2hqRWEFEHQC4pfIT4limxLKmkFSU86ilX0QIAL0VbqzrfUoxnuQEmJUa8I5qK0jxxC2wEzyHTX4dqaOPQmuNfYM5d7l28IjpdtWkNWdP0NpvcCN2WE776o5JArlFu6RY13xMJoEvUmi40eXMbQ4FoPvfjYdGcyW7OfyLWPnIHqZsqxgkwbnfbgpDC3obnjnhCf-6xliYpH9vE5aInGun8n4T93uDnIp2aCqEHPFI-0DUuLQ_3r0Nb8qlXWARPpz6B1vBZ9hlc0X8ZDtCck0dfCJdaZm2_dc1d82k7FtF9TqGE2l3Gdzj43jV_pa_x8e_jkachCdI76cayaFSo8_OzszqNYIi2w62pDBY9NxQc-VKN7k3hzz5dqRzsigUFKlh8BO-XXLi2SrXGU85ikz4ciGAt24aoavZxmPX39KhPKIfSnpRak87pflOMXyh58kJxuMBTOc_tavJzR7G3nDxmW7L9w7c3vqoiU1OOWAy-BGv34aCWpMdEJSy4pDN0o63VBOMTnSu2upfStRIzGrmSXuVLcyV_PXZuKPCm__BzLbjWLZcWhFtu1IEY68gvM-Tul7q4tlqKQyEPj71kpr7taiiajO0B0XjR5lFy9CvN9nT6-6CVkeQc8YOzrwglBv4NkFeDSR-3y3p7w-WFYMAb3r-sGpzDbidralYcEHnaiMPk6V7I2vqqO3-hpqv25lmyBB_dTMyiYl-0DLysH4CuwcTBlzWOAjfkqPKz1h1qlNMIm7Vrjk5R4ne7NuR8jyj2BuQkqeiQqnFi6X-VTU1jzaElsFYvGmNomfuOa5MNaXhqn5F-evAkmrTr5HfJHUvS-dw57aGJlFkZmgpKuQlk8KhcIecf_Dx9BycjXuLqoNDGXwIMQZ7GAxsGi0N24ghqnk8TVEbPCSRcjiOulefYX6Nlixwv9FlZPu1k9JYV07-3Pmr5mah1CXQ1f_WKHoqkxK1jf7jaLjeeAAHdgutnjzU5YYTvsiUMP44jl0h8yhuJFd-dIdPb79EIeea-N_rNvSc5PenK86cyRalfMq1ED9XTeAP-7pBNXfDqFNUdOanEZQ4tt3IJLeRL-GDkkLlmIjUJLl-M7nwXZYrK7HXEP0ux_T7SeXp_6PWMc3uhsm1R6MnbYQ74ZLb-DmZfYqL5Bv3Jy56zX23FRleC7fN7aBpJofTjJfko2GVWMpU0qP0IXbyZ2ur2fbrCX08rkeyd0edVHKRcPmSs3EveIJUSB7Ag-hTYt46eTSbmffCDDpa-phlJAuVA--NGJCOOJFU31EsUbGz1tpPiBtgK4TmxiK-zW_71DwMpSrfPTChkQzFR4zQMSh3R5mBcZSii3tFiEDaM-PFHpmVITx_q8n5X-h7nqbnHxArHV3mbkL4NW8Uo6EdGq1EwLEpsXiB-xeE7YwZlL6e42kvgRqCZ9XY4nd1qQA1ul6lNmnJB3bnsIOijFdlb438iYzx8-SlH-TwFIyv3Eu2G6dzjbfqy5ROi_-1ayCJqa9jA5g-A0AzaGDG8f_0aU4HjxbmDmmX7rS-5ZeNpU9oCUb2YIvGLiY_bpHo0b8gPt20y9qXgjQ-7YcLxAKORRx2Kk5iSEdj34lw-hoC6xjoiMnNgqwbG0S70YUtJXLLNC2wSK1cB9pp7J4wDR41UgLyYPbZbtKf2N5_epNOKJFJ2NT4TAsNODi3yVFAW6ZYsx9bk_xvTLr_QtPrwV24qZjIxK8v9Sg73h0omM6L3qQHi8yJ6i4d7pPDrlJbxXIiaBcza8fUDmMeolE80WJHwzQhwOAB1c69UEDAE5jQBwmSsflo3QQdx8Sc4f57cSHFDlrJPoeHwu3u8q4VtGn9PXnY_uj0aUgh5UWkl_J1knY-2-77vJdi33UZDuVF52067ShqVAzr8zwNuUdcBwlPbpA5688LoggEEfB3s2Cy0TD_5RRt84mAXcb_qFDsHSz4ucuc0XQNXPkaf0kO-zH6oQo8doylIjjxFCf_l3PoZe60xIVHionKcRgHa1nyKwcnBFlXxI2MhyBohY5bltQ71fTA7oqLOY4c",
  "id": "rs_0370765beff4ab05016ab491b2bbc487d0aac7d9edcdd7bb49",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"One finger is now inside the bowl and the other is outside its right wall. I’ll close from this deeper placement to secure the rim.\"}",
  "call_id": "call_qch6OaMbe6uad4RooRzRjoBV",
  "id": "fc_0370765beff4ab05016ab491b7783487d08246c6b19d2f513f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qch6OaMbe6uad4RooRzRjoBV",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.5108, -0.7567, -1.7447, 0.9958, 0.3534, 1.7451, 0.9512, -0.1501, 0.2192, 0.1226, 0.0067]\nstate[eef_state]: left_x=0.3395 left_y=-0.094 left_z=0.1973 left_yaw=1.0349 left_pitch=-0.2447 left_roll=-0.0477 left_gripper=0.9958 right_x=0.4085 right_y=0.1136 right_z=0.0431 right_yaw=0.0729 right_pitch=-0.3472 right_roll=-0.0948 right_gripper=0.0067\nstate[joint_eff]: [-0.1162, -8.7726, 5.6137, 0.1587, -0.4469, -0.0024, -0.0122, -0.2393, -8.5675, 5.8051, 1.5263, 0.1001, 0.1001, 0.442]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0a467ac38da7a37c7eaa466e6343560e043819608b025f4667bdaebbd3ff77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f002f85699f7262b4fef1455a0bcd117cfdb0466a14992d11f9048199ba63141",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977798b7400cc38a5f316b19cd18e831cdebb869f18dc83cfc16bec6047bc560",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.523, -0.7567, -1.7443, 0.9958, 0.3405, 1.6939, 0.7502, 0.128, 0.2192, 0.149, 0.0389]\nstate[eef_state]: left_x=0.3377 left_y=-0.0926 left_z=0.1976 left_yaw=1.0376 left_pitch=-0.2436 left_roll=-0.0357 left_gripper=0.9958 right_x=0.399 right_y=0.1044 right_z=0.0343 right_yaw=0.0557 right_pitch=-0.2231 right_roll=-0.0395 right_gripper=0.0389\nstate[joint_eff]: [-0.3077, -8.5538, 5.6, 0.1099, -0.4664, -0.0317, -0.0122, -0.1436, -5.6, 5.5453, 0.8376, 0.4469, -0.1197, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5143, -0.7563, -1.7443, 0.9958, 0.3523, 1.7416, 0.9497, -0.1345, 0.2203, 0.1299, 0.9955]\nstate[eef_state]: left_x=0.3391 left_y=-0.0937 left_z=0.1974 left_yaw=1.0354 left_pitch=-0.2449 left_roll=-0.0447 left_gripper=0.9958 right_x=0.4113 right_y=0.1139 right_z=0.0462 right_yaw=0.0684 right_pitch=-0.3297 right_roll=-0.0858 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -8.5675, 5.5726, 0.0708, -0.359, -0.0269, -0.0122, 0.1436, -7.6513, 9.5658, 1.619, 0.0806, 0.1099, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.5108, -0.7567, -1.7447, 0.9958, 0.3534, 1.7451, 0.9512, -0.1501, 0.2192, 0.1226, 0.0067]\nstate[eef_state]: left_x=0.3395 left_y=-0.094 left_z=0.1973 left_yaw=1.0349 left_pitch=-0.2447 left_roll=-0.0477 left_gripper=0.9958 right_x=0.4085 right_y=0.1136 right_z=0.0431 right_yaw=0.0729 right_pitch=-0.3472 right_roll=-0.0948 right_gripper=0.0067\nstate[joint_eff]: [-0.1162, -8.7726, 5.6137, 0.1587, -0.4469, -0.0024, -0.0122, -0.2393, -8.5675, 5.8051, 1.5263, 0.1001, 0.1001, 0.442]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0a467ac38da7a37c7eaa466e6343560e043819608b025f4667bdaebbd3ff77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f002f85699f7262b4fef1455a0bcd117cfdb0466a14992d11f9048199ba63141",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977798b7400cc38a5f316b19cd18e831cdebb869f18dc83cfc16bec6047bc560",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0370765beff4ab05016ab491ba9ed887d08bd884e269a7e606",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.175,\"right_z\":0.14,\"right_gripper\":1},\"note\":\"The second rim attempt also closed empty and nudged the bowl sideways. I’ll re-centre from above and try enclosing the bowl’s narrower lower body instead.\"}",
  "call_id": "call_S9qX9okjDPVyLVg4wxFjuKD9",
  "id": "fc_0370765beff4ab05016ab491c0820487d0ab6363de8f4b1ed8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S9qX9okjDPVyLVg4wxFjuKD9",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.5043, -0.7567, -1.7443, 0.9958, 0.522, 1.7241, 1.2758, -0.5869, 0.2855, 0.2283, 0.9955]\nstate[eef_state]: left_x=0.3406 left_y=-0.0947 left_z=0.1972 left_yaw=1.0331 left_pitch=-0.2454 left_roll=-0.0541 left_gripper=0.9958 right_x=0.3952 right_y=0.1741 right_z=0.1149 right_yaw=0.1111 right_pitch=-0.4082 right_roll=-0.1175 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -8.7863, 5.8735, 0.1343, -0.4713, -0.0171, -0.0122, -0.1436, -9.5932, 9.388, 1.5556, 0.3443, 0.2466, -0.1197]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee4851d388e5849e7a8776a986d418ce8ff6d52987b15007da0ae07c735d9721",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585fc4af9c280a10196308366ef1790dc082a1445ffbbffd5c6bd613467bc378",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f4a41d138d61733fe60eef15b8f2a94bb2b421c5886df5e51b73edd6af42e1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5227, -0.7567, -1.7447, 0.9958, 0.3393, 1.5959, 0.8211, -0.0799, 0.2184, 0.1368, 0.0412]\nstate[eef_state]: left_x=0.3377 left_y=-0.0927 left_z=0.1976 left_yaw=1.0377 left_pitch=-0.2437 left_roll=-0.0364 left_gripper=0.9958 right_x=0.3915 right_y=0.1014 right_z=0.0646 right_yaw=0.0593 right_pitch=-0.261 right_roll=-0.0588 right_gripper=0.0412\nstate[joint_eff]: [-0.1983, -8.759, 5.5453, 0.1538, -0.4176, -0.0269, -0.0122, -0.0889, -8.7453, 9.5111, 1.8437, 0.0757, 0.0952, 0.8913]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.5108, -0.7567, -1.7447, 0.9958, 0.3534, 1.7451, 0.9512, -0.1501, 0.2192, 0.1226, 0.0067]\nstate[eef_state]: left_x=0.3395 left_y=-0.094 left_z=0.1973 left_yaw=1.0349 left_pitch=-0.2447 left_roll=-0.0477 left_gripper=0.9958 right_x=0.4085 right_y=0.1136 right_z=0.0431 right_yaw=0.0729 right_pitch=-0.3472 right_roll=-0.0948 right_gripper=0.0067\nstate[joint_eff]: [-0.1162, -8.7726, 5.6137, 0.1587, -0.4469, -0.0024, -0.0122, -0.2393, -8.5675, 5.8051, 1.5263, 0.1001, 0.1001, 0.442]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.5043, -0.7567, -1.7443, 0.9958, 0.522, 1.7241, 1.2758, -0.5869, 0.2855, 0.2283, 0.9955]\nstate[eef_state]: left_x=0.3406 left_y=-0.0947 left_z=0.1972 left_yaw=1.0331 left_pitch=-0.2454 left_roll=-0.0541 left_gripper=0.9958 right_x=0.3952 right_y=0.1741 right_z=0.1149 right_yaw=0.1111 right_pitch=-0.4082 right_roll=-0.1175 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -8.7863, 5.8735, 0.1343, -0.4713, -0.0171, -0.0122, -0.1436, -9.5932, 9.388, 1.5556, 0.3443, 0.2466, -0.1197]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee4851d388e5849e7a8776a986d418ce8ff6d52987b15007da0ae07c735d9721",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585fc4af9c280a10196308366ef1790dc082a1445ffbbffd5c6bd613467bc378",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f4a41d138d61733fe60eef15b8f2a94bb2b421c5886df5e51b73edd6af42e1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJHKWTazXbIeK1XkPJWtchXXknEIBuDCHdrVBmqdEhjmGCoMt8_-BNB8vM3H0vOjrQShQiUrDb_wjKb04gJ86YV1kH6elBEuNLgYzvGIoFn7CEPIc95Rp_0ah27R_WvOXY7BOxCFU9Hs13ZviQMU1rNHIJ_sx9zeAy0kGVrFKjJMJnmzfDtwBBgTyR5hiZKP80cp_MAJhu7iFHZgoPksi13CdFogwCuhZXgFkiHmn6CXZCYPqmSwSBhxXEk_LBhLiknCprvaSKrJp64Ud23Sns4jrmcEcmtLbfVGTvgAtjzfj6TLzok0YntcvLLgi29hbFTiIFQqx9KMV_NTFjJU4DExWIxmtZqQSy-PWI2nupkidLE-It8oI6qP4h2FH-8w_Xa3_3Bn7EURTT4WGlQj_-cw5vzARODvjXtwiEtL8B0-oQS0Na1Fpd90tWuTPIlCEG4RP0bl6niqwSPQhy3Hsl_41oGd6uHI-a8IzDXX0cLyTj3hLmmRtX8ayi7BIALfDgU7KRxTJigyoP9LpRPKZbLhQPZRqq-WPYPcIxkfkhF8WiVrqhCtyYs2RVQUcsqldb6MyejJMSDMgTDe6wBINe27mIejIKeUsqbgRWcDbEWH17M4gX8xYZYPnn_9zc-pRfOM34u0qAEp2Rg8aEiRVRW4HckOR2q2ra5zFPJ3D5AZZTZ_itPO3ln1Ncm80CadjAQmb8GFXwoyTN2FQp_lmC7DU5bTxZWsPo7-S0QEB0em53x0Pxl8xEdBE4X1BhlUTzT5I6bWkwXc2Xrj7L7Y4KBlYhtMfkuiz-jiu-BI60f5xrsYaUo3lFKfJuchKIQfQKTmZWDjTT_3C9M8_jsHx9LTGpUDpPLFOND4mEbD2PMP5B0DdvSFjrRr_DGMI2fiK0i05tZsOtFn1gotSFFilN5iIVWvd8corMLgy7I_vmwyg81BPjp6_i7MKvM_QmN3tb_xW6619k3zIGS6Qe7ZUhAA-Oi-nYqBRHA2hpRozfthAONSgvWGZw_aDO5KvBEOhAFehgnqa423tkOfmbSciqhtNGgTXiOsGHLSYT-hUaKVW6iU05Epn9GuWLzyFa8uu27UZkaeTXKmFWXYhce1Mdj-aYrLtdxY7FojxL1rucHb0i3ihWIRvo-ILTMyp_kJPg_cNxQTp0dSy7-WwHT8B1WAOF3sLF2EZpLpxetnJAfOmTbFv68P89LPbk_tOZqTCveZTOlmxyYjtEbL2HQzN8VY2vtlR_xvCN24WYFq2uEo67599bN6Yt21e0GMpucMzbTyRpqR1T8Z1UrSRdS06VGUvEbv25ZHzpCWWgsrGZXYr5Wrq0P8nSC5ZLfKIdVwJNS6QiMhbyGjVfP2XZKgNd1X-vyYyK5X-9niv7wUOH43tcI-wnWZKPF04bBTNe5NBtlOAqBPjUQNVk66pvY7kbG1slmVqXQYw3jmlBeZmSkF683QjHhCzXoUZ9_Q62TYJXHxkdKOcmKaepZH7mGlKFpocpH9dr0wTAEDCkSDGswSWDdGeKudnh7PHXrjs7yJTsMGCqBeQWQFtec8yMoK98tv8r-cmcW2nRjL6JhIE4rAtuzjYbDl3oi7pk5Liz-qpSkPoY1n3oiH8mN4OWORjWB3705zYA5VRDGgDrbhQhjWyH9QxuALSIOOiKbl6q4Sa6kVx6MOhAJcGCreENogSOnUx2ItX773v-Qw7i8jJg3hpX1o5tX4T_SAD1Y1ChZkC2BYBisiX7LB902A-hFa9BcfH7ocW26U-UIuB8qO1z7KvdszLaZ_o5wqCMj9ECPCYNpWRgmJXXCDpFrz7oDvNYbqXRrNcIwGdIcAsJlMjcsT9w7PzndbObbilhoCOdJJSoJ27F9Uw2gMg_JD-f3Fjq-abNfdSMUXUdVJ19WR7o3Sm5eRP35QJpthptCEqa3JJfZ4QN9RL9q9LWtdR7nc487tmG6bM5K8vSb-C-KuoEjN618Zju0GwFATO3_PpY4re5dTex27QxUTc4bNTz5RqQLRu3yETECIiq673HiCoM-kicZs81NQGDoOY4eqnfljvvxebXAYTJNNCW03epNDcdt5k3cR4244z03bZcUBqaffU0HeRqnZTWBjsjU_wbA2XmXTqepk7yKATb0leontl8alLFf-IUUqhjoWLu431d8qQoXgbrf4zZ8ZR-fRcN2RFzYNj5WKH40Ui7NWDNH-SDAMWZj01uDYMPmT2Z9ebHhy8_eIZx-fmcxTHbL6GWHeRlLbs1pDehaVmg7Eg0iph-I1ZG3XrAXEFSruId8pbzDmzK1pQTMaRw7VpNWDWTu2OYo7cjJxya3v2uPkFNsmeup6vV_M4kI7wJrPekiqaFeeCEm2_DJD937oG_7N4Awp5r-pgvTguYMOLpNvrdKCUV5GySVYWxO9tJzGItz5WylpbOYwJ9ZP963uAhywYz_ukH9McUnnFJCraVACKcAQATtk5SPnr4yYH1Nz3ArPge23YjmG4swS1lce8FVFyafgLlAAR9Z1miuQ5gsCesCt9z6nngHPoHtYz5Dy4-XVjrmg7RJeZEloIAW3IorW_LKr4bxhW6FHy-uoPE5Z2A8gQ5cPuJlwkxzQxciudDDHkNc2O-7JHfN18pSOJ_DhBM_L8vPjqIwBZEYkrHeVRZEPhca7oLnbhmoe_nGnFCD2lZWd_mdyAncVUbpYdSwpNv3Lso14sI3eGI6a00ZSVdsfFtlYJvDfOcQCMQeDmPCQ6_W4WJIn9kw1sFjHkFOBTZRxPzqXbOIC1n4pmnD5TlvX6CATt1RYcsWCxmB80TsKAzYsaCr3RYmGgQ1-yhp5uCYeYpycEAPavlLF4WG7TuzBPA7yoKlYf3pZ73KHPCRxyAMnQqEplzCbvu05nfoFhXguKG3OGSLCqdqbClQ0MC9EIikB2NXoe2wTn1qL07GlvOXa60ZHZZFgtRWbACjlfAWn8mAt2RKmLJplE8wbWjZAl6jFzsc382fjRrHH3su-LjsuSIs=",
  "id": "rs_0370765beff4ab05016ab491c3e14087d09d118fae21f5f8d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.2,\"right_z\":0.12,\"right_pitch\":0.3},\"note\":\"The bowl is now clearly ahead of the fingertips, and the wrist has sagged backward. I’ll advance toward it with a forward pitch correction before lowering again.\"}",
  "call_id": "call_1mx7Vle9XARLppsz6dKUnbGP",
  "id": "fc_0370765beff4ab05016ab491c8dfbc87d08c998ef52aedc37e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1mx7Vle9XARLppsz6dKUnbGP",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.504, -0.7567, -1.7443, 0.9958, 0.5789, 1.8519, 0.8467, 0.6083, 0.4923, 0.0242, 0.9958]\nstate[eef_state]: left_x=0.3406 left_y=-0.0948 left_z=0.1972 left_yaw=1.033 left_pitch=-0.2454 left_roll=-0.0545 left_gripper=0.9958 right_x=0.4485 right_y=0.1977 right_z=0.1039 right_yaw=0.1328 right_pitch=0.2149 right_roll=-0.1421 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -8.7179, 5.641, 0.1538, -0.4078, -0.022, -0.0122, 0.2667, -8.1436, 5.9145, 2.0928, 0.3492, -0.0952, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76e4905ea5d5734c219e3799176e0657dfb2f00438fdc1f5cd3edab48881bb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b185852b906971fce187a41b9d304c958f5ac1d06fab55ed217b5d7fef5c0dff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64721349a6ac1550870607f6a9c05d89321761ad32896da99da4c7cb0be97da6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7229, -1.5143, -0.7563, -1.7443, 0.9958, 0.3523, 1.7416, 0.9497, -0.1345, 0.2203, 0.1299, 0.9955]\nstate[eef_state]: left_x=0.3391 left_y=-0.0937 left_z=0.1974 left_yaw=1.0354 left_pitch=-0.2449 left_roll=-0.0447 left_gripper=0.9958 right_x=0.4113 right_y=0.1139 right_z=0.0462 right_yaw=0.0684 right_pitch=-0.3297 right_roll=-0.0858 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -8.5675, 5.5726, 0.0708, -0.359, -0.0269, -0.0122, 0.1436, -7.6513, 9.5658, 1.619, 0.0806, 0.1099, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.5043, -0.7567, -1.7443, 0.9958, 0.522, 1.7241, 1.2758, -0.5869, 0.2855, 0.2283, 0.9955]\nstate[eef_state]: left_x=0.3406 left_y=-0.0947 left_z=0.1972 left_yaw=1.0331 left_pitch=-0.2454 left_roll=-0.0541 left_gripper=0.9958 right_x=0.3952 right_y=0.1741 right_z=0.1149 right_yaw=0.1111 right_pitch=-0.4082 right_roll=-0.1175 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -8.7863, 5.8735, 0.1343, -0.4713, -0.0171, -0.0122, -0.1436, -9.5932, 9.388, 1.5556, 0.3443, 0.2466, -0.1197]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.504, -0.7567, -1.7443, 0.9958, 0.5789, 1.8519, 0.8467, 0.6083, 0.4923, 0.0242, 0.9958]\nstate[eef_state]: left_x=0.3406 left_y=-0.0948 left_z=0.1972 left_yaw=1.033 left_pitch=-0.2454 left_roll=-0.0545 left_gripper=0.9958 right_x=0.4485 right_y=0.1977 right_z=0.1039 right_yaw=0.1328 right_pitch=0.2149 right_roll=-0.1421 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -8.7179, 5.641, 0.1538, -0.4078, -0.022, -0.0122, 0.2667, -8.1436, 5.9145, 2.0928, 0.3492, -0.0952, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76e4905ea5d5734c219e3799176e0657dfb2f00438fdc1f5cd3edab48881bb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b185852b906971fce187a41b9d304c958f5ac1d06fab55ed217b5d7fef5c0dff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64721349a6ac1550870607f6a9c05d89321761ad32896da99da4c7cb0be97da6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJHQhQjpl4ATJKTOBbKztNMM6HrmAXJYtTamoVM8OYzEhtLlk816YiUpO-fVJSG5d8EK_HEchC03U_tmS0RkhS95JAiE4ZB9lt6HnIOIkWx64yQLyT8w4kXYXTUK99SVpqaP8InNiESsJxq5TCnSZ6h5Kf8nh-ZUTTcYzmNae4edwsxpSiI-zQtebCz3CTHkfvLvE_U5ZeRIxAyAl59LXGeDo4juNoOWkH382MLOewtcI9q1dKVhzcrrs1VevgELL6I1oDebCYnpquTkdJngiqEazRvV7ydLknyNiP9QLX8qsGg_0bGB6_85RkPZBL1C34TGdJ7Wck7u3UPalZLCPfW92Jez6ugsnzSXAMfiq5pSG_fROSYKX5ncfovocqL_cAknahgTtl1G2XmubdOTTqhZASrKzGlGFehNpoG9BmbFZUWheVHzveLC_GxeGiy_4Y01SihxV6GYRaAWjN2RL8801_DIwsQFQvJCdNuVtlh12wtRyvKbWui4HrWhM3u5Pl2tJ4TG3o-jUTE_vVdO940T6_mZ44qvbl-bPfy_yRjgRSM-bZuhIpxvo013F8w0hNN4JIovJb570PEGgT91uYshYx9s9hjcGmlIJytiy5dphqg24eowCkbaBOFjBh2_L8rrI_JdjSJVVe9S1bg_pgRH4s4jD8wI2UHFJJ9tfmmHbl8GRLu60zSoUDV9_qUsQl7Fb8ieCAulaNeuTBJNAETWuHvIhBfgt9HG2ao_9hv6oKmX1NgtkvrA5wQZi-vbJK1ZZEJ4NMBCpaU8BRORwn-3yAC77pZ3T3Z-NIQYQy1xLkfd5kgsIJSVfOQGyc-5wrAOzgVlL2T8XIKVgAK_FDjM8pKfvBgGiMK8WzuR9ooQCYVDBaPCXa7RPzVYIWPl_L50Ww6QCHwUmFy9oim_UTBiFjHJynVTYi5_aFdhbyf1rhUKh-4s8MBQk6vfCS85gioEQYNoWzEUfcYwVwDa1VhCookYRC1hTTZ6x-vSeZxqjyikUHtodmhKVHSVMjJ-fH6obW5i53I2IDa9RAnyaXTPF1Ze3so7hfXDrIRkD3VZo5UL5X_mhPDcdCQIByOd64oUFujFIx8n8N5hw2uImaPNQa1U58ZJrqnJTo4M6gXbZsJtKvQ6RGSpzpA1z1X1p2cSz3rUYKwya2BuX94nV4eLC_rMQR5vOcrYR6kNg0bi5HazbDozoZBHyibAubpe4lU8cSvMKoyicC9ogPwnAL3MEHxAO6UrkBIkaMM7lCid514lG9_9I63Jk8OaPKRMpI0uRf7xE4o5JgvdyQo6ObnsuJ5NhUfvHroAcYI9-vacBdi7F1aEzs1TDWxdpthC8z9ydEPntTZ84nJ-u4loSI9Vrzg06YNF3xGQIFMytUcR4igU-bCtCyi1MwGlKTgDJOgcqzWfwJyLziYkIypSqkkW8XaKAZ_uRucyqLATe5q2sYQ=",
  "id": "rs_0370765beff4ab05016ab491ce2c8087d08cbeb1769b42a91a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.215,\"right_z\":0.025},\"note\":\"The forward correction brought the bowl close to the fingertips. I’ll centre the open jaws over its lower body and descend at the edge of the arm’s table-level reach.\"}",
  "call_id": "call_u3shH28tHWMlXU3R3PWEi7BM",
  "id": "fc_0370765beff4ab05016ab491cf266487d09d2ec8930b86f73e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u3shH28tHWMlXU3R3PWEi7BM",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.5021, -0.7567, -1.7443, 0.9958, 0.5701, 2.1757, 0.9508, 0.8268, 0.4824, 0.0113, 0.9958]\nstate[eef_state]: left_x=0.3409 left_y=-0.095 left_z=0.1972 left_yaw=1.0325 left_pitch=-0.2456 left_roll=-0.0565 left_gripper=0.9958 right_x=0.479 right_y=0.214 right_z=0.0314 right_yaw=0.1395 right_pitch=0.2112 right_roll=-0.1515 right_gripper=0.9958\nstate[joint_eff]: [-0.294, -8.7863, 5.6957, 0.1587, -0.4518, -0.0171, -0.0122, -0.4308, -9.0188, 5.8462, 1.2723, 0.0269, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cab79249f60e1100b8ee80790af2054ccef8eb42f2696bd3f534827ebec68394",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d76e58a08286cd96c4b37260fe7bd0423e3aad386b0d2bb371ada6a97605b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6173c67c57b7c22f59097204bc3b7be7a6252d54b62c814125ad09bd98d245",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.5108, -0.7567, -1.7447, 0.9958, 0.3534, 1.7451, 0.9512, -0.1501, 0.2192, 0.1226, 0.0067]\nstate[eef_state]: left_x=0.3395 left_y=-0.094 left_z=0.1973 left_yaw=1.0349 left_pitch=-0.2447 left_roll=-0.0477 left_gripper=0.9958 right_x=0.4085 right_y=0.1136 right_z=0.0431 right_yaw=0.0729 right_pitch=-0.3472 right_roll=-0.0948 right_gripper=0.0067\nstate[joint_eff]: [-0.1162, -8.7726, 5.6137, 0.1587, -0.4469, -0.0024, -0.0122, -0.2393, -8.5675, 5.8051, 1.5263, 0.1001, 0.1001, 0.442]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.504, -0.7567, -1.7443, 0.9958, 0.5789, 1.8519, 0.8467, 0.6083, 0.4923, 0.0242, 0.9958]\nstate[eef_state]: left_x=0.3406 left_y=-0.0948 left_z=0.1972 left_yaw=1.033 left_pitch=-0.2454 left_roll=-0.0545 left_gripper=0.9958 right_x=0.4485 right_y=0.1977 right_z=0.1039 right_yaw=0.1328 right_pitch=0.2149 right_roll=-0.1421 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -8.7179, 5.641, 0.1538, -0.4078, -0.022, -0.0122, 0.2667, -8.1436, 5.9145, 2.0928, 0.3492, -0.0952, 0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.5021, -0.7567, -1.7443, 0.9958, 0.5701, 2.1757, 0.9508, 0.8268, 0.4824, 0.0113, 0.9958]\nstate[eef_state]: left_x=0.3409 left_y=-0.095 left_z=0.1972 left_yaw=1.0325 left_pitch=-0.2456 left_roll=-0.0565 left_gripper=0.9958 right_x=0.479 right_y=0.214 right_z=0.0314 right_yaw=0.1395 right_pitch=0.2112 right_roll=-0.1515 right_gripper=0.9958\nstate[joint_eff]: [-0.294, -8.7863, 5.6957, 0.1587, -0.4518, -0.0171, -0.0122, -0.4308, -9.0188, 5.8462, 1.2723, 0.0269, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cab79249f60e1100b8ee80790af2054ccef8eb42f2696bd3f534827ebec68394",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d76e58a08286cd96c4b37260fe7bd0423e3aad386b0d2bb371ada6a97605b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6173c67c57b7c22f59097204bc3b7be7a6252d54b62c814125ad09bd98d245",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJHVmqZbqtq9fkbYfCecCegfxeTQM6RPJFMfgnd_BSy25RolPACbgQKBXZ2xwszDyipleLv09McvXqpRvf9CH4JNdzwXW9tGeCSZ-rUpBpt3gH3-AD2lBCF41ayLj06McBtpa5FoK7p8ieOZorvZ5BJ0n5WJkek3i9Uc5KGPiXdeLhk9TX9cz_cZTeJrRjgrVQHH0Ac0_f4hb98chHRNgrfkY2WK6oKI3npCuk1ZNcRf9ysudBxnbhHo5Hr6bPYIeqK5Ss-Rfw4SglrfBzGpjO_Heo5WLxWsMUWVYDUdXHOgrK45Ok4HAZAc3D5E6KQVGmAbRu_DljHHn4qFwGWXoFm0vJS73etW7Nsmw1GQ1Ef0x6U49zszbaNZUjwncKnTRShhdBtSGV1-H5ZCPJKAj1SdInWXHO7konlaMbmaVmGVHmrjN5V94XmuXOoDRpIxDMP-C-YOuJaEY5YpTO7aTA8za7X-EJDubAYhY8NRMVLbERFwASziWJy4dp_HfbrbU6VKtFozvO8397I74p93cdYqA1-5uC1ltWHDoKJ789_tcImKgzCVkaQv4HjYiUafDs--DMtRL9tB2MHMuy68QEygaWYAKYJO7ShE02klSl0JiyZFqYv36XYKkCbkk7zSjOj3mSvUX-cwk3gxNHLwAA8Yqjef_t23Dh34YsqrFFW8ctppTxsc6HCziX8g7KVKo2mOAJYZot9Y7ahwR-SpXvYTL51lILjVTTokaSWw_gWzFiMC-Y9vtvFzBV2IdyCVaR39o0Xh2X7fQb9t2UrJQmU9a6Y8OWQdk4LlRgjwKppjKNtc6CR1d08-4tPIlyR_tKX1qxFNKjK1dHjHD_q-oeX2JHKg_a31XhF1LlG4QNvZqioZcWcblWPf3xyrRRqpyAcDKOio3iViJNUs3cBWjDszsmc5uFUdoVWtyht88a3xPZy_Mb3rMsmSlC7OkKyvA7Vg1HK66rDie0z_Y92Ngk46NUv3wUAux7C_bsleTE1TYVukAcJ1FlL0Hu6i_gji4Ie3SBth3nzy29jss_aKOg6qzn13n91yszWgEEtqGVWjCgSPZZc-Dte2VDPacROASwiCYeBClbt63sg4twoKcn67PMUi9XdhlxbI0nqSpbZjzaCPPvpWj0QZLQH5FT7GsfiFZam927V5RpJiZwPl-3aU4CC8jtXMEP-vtJwivlvw-gkQegrm_031kq9ydT-mRWTQiS-yTvkIf0W-hndIt17qM9TvISCV-0NUoDx3Hwbn-zveC8TFWOb2C3K-X8GiMJzxlM-goqzVZcn15uQgER7DP_nGFi3V_6YfBUqOSqtu58c6PJQpbIy23WcVbvYAVribIcXgaWqfAzwtj27_8ylIRIIZdOTMmZ6033SFQ7ZSw-ljAHB4pm-7fFeGLLP0ojcyrSlkpt6PP72eDgu_yDXCEGFeLKQ1GFzPhWJkgIiYLoiV7dp0BEt91pU0If903b0f1Zw8LiGYAS7A38us2eKV90g_aQKIw1cMb9HAGpqZp-8NecrUG7709mdnHerEc4NnIqG8pgVWMZg5_dSHVWRZmgcJpifXqc7CvH1toUk4z0hLIerH4IkC6o4FZFaHkf8bHlKGQm6cIexqvaiXblzm-Hk850_p_vsctDBPSmArDt1bjMq5-SE1tuHh3Il4Si8D0ZY-cKhKwRUmuz4UIG-0whPa64Se3sz1v0L1Y0MXlFAWKWRzLiMkoOQhG3-l6oibuWsD2_QpnEXs2XyWgk2DvuVwV4QkCFMhCPRDKHgcizV2QHMLFn00pRqltQUdx78P8D-kxFVM-9_RlaRAV4Duq1dpaHM7CRMp25pv-HyBmrqzrJ5pcJKrzmF7XFVdfuBKlG5sswXgH9dRoHF2eLc8cg==",
  "id": "rs_0370765beff4ab05016ab491d2b09087d0b050dec8661d554f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bowl is now directly around the fingertip region. I’ll close on its body and check for a substantial grasping gap.\"}",
  "call_id": "call_pPF6W1HtVJ3yLNWZhIEBtNHe",
  "id": "fc_0370765beff4ab05016ab491d4e72487d0a84d7396f7ad54bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pPF6W1HtVJ3yLNWZhIEBtNHe",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.4998, -0.7567, -1.7443, 0.9958, 0.5682, 2.1899, 0.9535, 0.8349, 0.4778, 0.0036, 0.0081]\nstate[eef_state]: left_x=0.3413 left_y=-0.0953 left_z=0.1971 left_yaw=1.032 left_pitch=-0.2458 left_roll=-0.0588 left_gripper=0.9958 right_x=0.4796 right_y=0.214 right_z=0.0268 right_yaw=0.146 right_pitch=0.2068 right_roll=-0.1586 right_gripper=0.0081\nstate[joint_eff]: [-0.3214, -8.6906, 5.5726, 0.1343, -0.4518, -0.0513, -0.0122, 0.0615, -11.7538, 4.5744, 1.7509, 0.2027, 0.022, 0.5446]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c146d98f92d57f380bbd5b70c3ce0550bc9a18595dcebbf65bef8bf2922eb9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db30e0dc9799029fa861e0d7c69de426ffb1d1280e297a719851216efeeb3993",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a06912cffb49f4b69dd17f6f488557e90b97da7f59fad981ebfa1cc7a2b4f8b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.5043, -0.7567, -1.7443, 0.9958, 0.522, 1.7241, 1.2758, -0.5869, 0.2855, 0.2283, 0.9955]\nstate[eef_state]: left_x=0.3406 left_y=-0.0947 left_z=0.1972 left_yaw=1.0331 left_pitch=-0.2454 left_roll=-0.0541 left_gripper=0.9958 right_x=0.3952 right_y=0.1741 right_z=0.1149 right_yaw=0.1111 right_pitch=-0.4082 right_roll=-0.1175 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -8.7863, 5.8735, 0.1343, -0.4713, -0.0171, -0.0122, -0.1436, -9.5932, 9.388, 1.5556, 0.3443, 0.2466, -0.1197]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.5021, -0.7567, -1.7443, 0.9958, 0.5701, 2.1757, 0.9508, 0.8268, 0.4824, 0.0113, 0.9958]\nstate[eef_state]: left_x=0.3409 left_y=-0.095 left_z=0.1972 left_yaw=1.0325 left_pitch=-0.2456 left_roll=-0.0565 left_gripper=0.9958 right_x=0.479 right_y=0.214 right_z=0.0314 right_yaw=0.1395 right_pitch=0.2112 right_roll=-0.1515 right_gripper=0.9958\nstate[joint_eff]: [-0.294, -8.7863, 5.6957, 0.1587, -0.4518, -0.0171, -0.0122, -0.4308, -9.0188, 5.8462, 1.2723, 0.0269, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.4998, -0.7567, -1.7443, 0.9958, 0.5682, 2.1899, 0.9535, 0.8349, 0.4778, 0.0036, 0.0081]\nstate[eef_state]: left_x=0.3413 left_y=-0.0953 left_z=0.1971 left_yaw=1.032 left_pitch=-0.2458 left_roll=-0.0588 left_gripper=0.9958 right_x=0.4796 right_y=0.214 right_z=0.0268 right_yaw=0.146 right_pitch=0.2068 right_roll=-0.1586 right_gripper=0.0081\nstate[joint_eff]: [-0.3214, -8.6906, 5.5726, 0.1343, -0.4518, -0.0513, -0.0122, 0.0615, -11.7538, 4.5744, 1.7509, 0.2027, 0.022, 0.5446]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c146d98f92d57f380bbd5b70c3ce0550bc9a18595dcebbf65bef8bf2922eb9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db30e0dc9799029fa861e0d7c69de426ffb1d1280e297a719851216efeeb3993",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a06912cffb49f4b69dd17f6f488557e90b97da7f59fad981ebfa1cc7a2b4f8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJHd31Mv2oReTk9KnnrTJhHGOT3FPIQhWO8GW5r9j90DTq8uNTnbpu3pbYK_eJ2yXLMjH26wSTiuyY_d5FQUlCgqnkv3Ct99-Pb8deBLhfBXTuBEF047Itu7mVkZqeqYj8nDV_EPdGx3rKgiA95P9UozvvNuBY2kml4VAWQom-tbS-WcPaE4QowJiI0hztOvoO81UIuAt5piN1pTLtfGB6rvKE5mmGw-tLH7pBSed3kPbYvHMAKuIBZV8Yih1SV-uPRZWAiyxjtEBw4NZ6dML0oZcIzjTOsd-vfdmcelpZspJvh4uUlsffnbAzQFgU7-vJTZs7S_vgILNXRHA-EfM3OwROhp_Gw_Djn8VmcsePtFg3u8dzpcSQCye6GA5YFWijMBt08V26n6Lh6LzS0OjqQROewJKg_LWpL85NfMJnKxIFKKUMpyXFV7pxjQRrkrSP-oCiTsk7Mut3VLZMbEE7SAMA_6b67E_pR0qtetXUx_sByo0BaB0OhiM0Z-gnryX8GsnFn_SMeFAuoiudBakkCCSWUFo8TwPnlcbBYS-9_UtYXXS51AYR57Mw7M_jV1izQsWvaKeP5OllK0tnK7T_eb313GrZDUieguVFdeOfJuLhq_vGTvzcDiUzpQ4ehR_VmVmsbMYteNQUxifTv1NA2JzEKXJcLWSr8Prx084MgTT9bnLJx5UOlvVffAnFpySBgF_uCKhQCEHmpBpFA-21oYVd4BTqbMqzpYbqclOriB-AmaRdW6kJHHbMNQKyTP6uit0T198tZBEbrfIAI0IltD3aERV3tjMJvOdFLbUe7I-4dEKAO-g7a0o_BVpkzA7YNKUp15OLIqI301zxysrHQPRwGjx6EKJBPNlVgNYxRCLFUWulFSkMA8a7Zl5DDt4DtnKlmdklR5vp5uNjUjEPpgGDVk88ANDweHtScwqO7owEe4-umUmVKDwIiWqcQJrQEl1y53cTiPpfqHSGL8rskipZLWuYO7xFZkan1p0GPDngJEyp0s-AJZKV809tP0NgLoBLgBKJnmCbFhk66pam1GNwYbLoT5uYKvCdPZa5NbiI2KICbYu4jfcN3Zt-O5IYNSAfULvJp7-CK7F2BQXo_D5AyxLzkkS5Li099zD1Fv5wZQPXwx5GelezOef3qddum_YZhVmUAnmlOgkYrCHH9PKiVvsUYA--lfMueeAiPvAqpc-gaLBToucGiLlv2Hd9sbDXk5NbsjGdZ-mDzhOl1cCJyxpzaUC2iTD0wUbBpVgrdOAMgLPLnGno7nwNz4tI4DwGD4n2SQ6PYp6EB3S3aw7KBjaUZsJuhVddFZwfWVwXCcREaDBSaBeuINbwrhfdwl4OmIt69-mMXZmhc8nlX-uB1WuQQoMmN_UazAHeR-1IgwVvvAsq8h7JGcnhYFoj0Ud-1-_eKV0qGIWq_TS0lgzutaThatFca8vjc6z-d7CtNSL0ZGHPzDwsc-soyDEigPtP10BaC9WSnKad__xI1XT1S8t-y4p0Vc7cQ3KLkh4JETRWzguvMCYZdROwP-nIVCeVBanwYuh8-5q9g4OZcAfFI480sXpsu7mImlgS_rmn0A6lhpRnaqVEmXlxTWnGWoJQAQodfWL-rr7krFoW7cEZFa7QU2y2wxDCsITLjokQdDwJm_DWXtqhT_t3mywEuKcAcZJxcDBdt-VQPb198chuTGzIYrclnscdo6rWpqiwz8e5STR4GO2_oPKuro2Ds7Uus_gb7WDcro6tfM2wUMZZuHFTrYqFJKPWz4cltLElEasNuCQtB2L2J0KGQ4B_zIpUO0q6Vf5lflRQBj6HxvchbDl2t25U4czO1S_ti7HMJoWRA2YsfIRWtdrNh6N7BuE7yirnMutm7YVp9Ygw0RGuAEiaq3p_ZZe0270xyYVBzzBLgtoFcyu8wcl-cvYumnfopFjtzsUhrk0grHnwa2n27AEw3_sUpCqey-ed6auTOFqKbwdbAYxiLNaaStP8ihUcR2Ic-hx8m-xCmtIgDYrLNm6oYZGc8ktZ5G5IiTITcWqrREd-KgmUNTzNfitOwRoqtvQ2sS-4ak56bGcT3UwBULFBAFqnrMRjG-L-_AH0w2lghIJyhUhklhqyrm3cRhKTUn5D3X1vvRCeElNA0NMEpbLVoHk3XXY_t34JTb5trKlJ58rXAf_ZrJhIq6JmYhU5hmKE2oYrh4mAAGR16cLbnADswDmgyCeXiSQo_yK3DBpCfs31tdjvruX1-emvWZpb9mmi95iKshu09RT_pZnMN0eITFld_A0FydkvJdzIk5HZLba5Uw4uSsQoig8mPjH4ZhrVq8L1_U511iiZCuOg==",
  "id": "rs_0370765beff4ab05016ab491d82e6887d099c8fd7f97429480",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.21,\"right_z\":0.16,\"right_yaw\":0.7,\"right_gripper\":1},\"note\":\"The bowl slid forward instead of being enclosed. I’ll lift clear and rotate in smaller steps so the jaws can pinch its near rim from front to back.\"}",
  "call_id": "call_TOE0nwqshtiLBgTHaD2Ltvfg",
  "id": "fc_0370765beff4ab05016ab491dc15d887d0a8b0de7bd0b97093",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TOE0nwqshtiLBgTHaD2Ltvfg",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.4963, -0.7563, -1.7447, 0.9958, 0.3363, 1.7798, 0.9329, 0.4519, -0.1719, -0.2642, 0.9953]\nstate[eef_state]: left_x=0.3418 left_y=-0.0957 left_z=0.1971 left_yaw=1.0313 left_pitch=-0.2465 left_roll=-0.0626 left_gripper=0.9958 right_x=0.4679 right_y=0.1994 right_z=0.1327 right_yaw=0.6138 right_pitch=0.1721 right_roll=-0.159 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -8.8, 5.7641, 0.1636, -0.4762, -0.0464, -0.0122, -0.335, -10.8376, 9.2786, 1.9219, -0.1343, 0.0611, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e25bb73b61cb791b61ee10c780cb54f7fa460c59b4aa45fbe79d934f9164661f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaf462d281fd614d9b017d6de5b169c9d157fad5c7097c74baf33b6d465716d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:969ae9f632fa7a277bf9d68cf239c21edc2973d01d7fc4ee5b07fe24ebfd701e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.504, -0.7567, -1.7443, 0.9958, 0.5789, 1.8519, 0.8467, 0.6083, 0.4923, 0.0242, 0.9958]\nstate[eef_state]: left_x=0.3406 left_y=-0.0948 left_z=0.1972 left_yaw=1.033 left_pitch=-0.2454 left_roll=-0.0545 left_gripper=0.9958 right_x=0.4485 right_y=0.1977 right_z=0.1039 right_yaw=0.1328 right_pitch=0.2149 right_roll=-0.1421 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -8.7179, 5.641, 0.1538, -0.4078, -0.022, -0.0122, 0.2667, -8.1436, 5.9145, 2.0928, 0.3492, -0.0952, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.4998, -0.7567, -1.7443, 0.9958, 0.5682, 2.1899, 0.9535, 0.8349, 0.4778, 0.0036, 0.0081]\nstate[eef_state]: left_x=0.3413 left_y=-0.0953 left_z=0.1971 left_yaw=1.032 left_pitch=-0.2458 left_roll=-0.0588 left_gripper=0.9958 right_x=0.4796 right_y=0.214 right_z=0.0268 right_yaw=0.146 right_pitch=0.2068 right_roll=-0.1586 right_gripper=0.0081\nstate[joint_eff]: [-0.3214, -8.6906, 5.5726, 0.1343, -0.4518, -0.0513, -0.0122, 0.0615, -11.7538, 4.5744, 1.7509, 0.2027, 0.022, 0.5446]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.4963, -0.7563, -1.7447, 0.9958, 0.3363, 1.7798, 0.9329, 0.4519, -0.1719, -0.2642, 0.9953]\nstate[eef_state]: left_x=0.3418 left_y=-0.0957 left_z=0.1971 left_yaw=1.0313 left_pitch=-0.2465 left_roll=-0.0626 left_gripper=0.9958 right_x=0.4679 right_y=0.1994 right_z=0.1327 right_yaw=0.6138 right_pitch=0.1721 right_roll=-0.159 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -8.8, 5.7641, 0.1636, -0.4762, -0.0464, -0.0122, -0.335, -10.8376, 9.2786, 1.9219, -0.1343, 0.0611, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e25bb73b61cb791b61ee10c780cb54f7fa460c59b4aa45fbe79d934f9164661f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaf462d281fd614d9b017d6de5b169c9d157fad5c7097c74baf33b6d465716d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:969ae9f632fa7a277bf9d68cf239c21edc2973d01d7fc4ee5b07fe24ebfd701e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJHiM91DEFOWswRlhns6ZIwS-xHqlKRGbH0BCuNBathhE3UL6Sh8F-Kij1kF5puJ6QnjVEjG_5TOTWY4YxEqBI26VAvGL5HfpMYJS7XRG-tSC5L7aMl2wQHj9yNNH_ZDmEMJfcw_dRbbNdbTzb7Qxr753X5Q1VF7ja3acth0r-kBvYUo9UHN6Vl8Q6jx3zoCv6uNlFj0XtX88iAtwPgcb9AvC7Aq3lKKQvCs_Ks5KgeoRJPoH4fp_pxpf0-_80n_ofRpv2GIxII5s6C6-8m3Q-zb9gPYfySFgrpCnrP0UsHsBHgs-908jjdyi8DulMpHWnMERg4EnwhwFAVlCrdjUgr2YAhK1ADNLl31oaKraIoVMudQQJVyMYii0GQE8chPVwtzoFCCyNhqgq8NAX2swkKQHvfHUEFwwHrLFSpkXQeRb9dyXfQ8F2mdVwdxCFZB-nRFqJ9m8PJnbpIaHPJhW9pJO1wNkVvvOGD40ljWUnHnTDHtHMM7HWEkiuLUJLKmAwORvrk68J9rOpHchrcJ4L5lO-DBbNmO37DMxGbOifc5BG-NmEv-Wsk8JoE-ZriYUXrzUtdM4f7Ko88e8hQJsS8fJ-XrLdky7NTDOmKd81ywPlt-niFZz9mYoYHxjATypNFSwm4TjYiyXK_v67bCHOR7dOsVvdIVZssHo9H3Ok2D6AxjrtpUX1m28l-Hi6EV1k7LJCRq_sn3sXuUG8FhgRzDk7BSUS8trVPyW-BI49VVtO7kYO2FCq7SHZE4E3bmcO1ye3YykxGhv67xrg_5SVZvDFnQrVmrYgle8CkSD14kysmucQcd_SCsQ30SGS12fL8x6oDBqVBaNncRRJdqziLct6fmD9_f9Xq9XmBgsqNMTBrRQc6zr15gT6DTHYCvEHo9VlJtC_rjU_OC8O-85Jbj-au3cHf9692M2o7AFhD7S6U0kbl0WqK--Rm4YeGBt5USpu5T7QpZtImejObRiAlWgJfArxwISW1zZonCEZNiqcALUEWc15UJWmd0iPEbnRRrQ3B8vCet4AJnGSJb-l32OkrR-OIfcNjB1Nj28cMezs5p_j2h9Ud7cisMy93TBDf0N23MDZPutZXMn3Y3B0W2sPEQW_CFQrnbDCIcYV-xc3NFYXMlc1X5ppPohRoqXFzy-lWXXyv9xkDnNrdK1ErhdnMn3KiuIy14rRbrz_8FkwF8r3MV9wgs6X18iQ4XzyOsiZtkCz7eGrUOyW9BTNEBknwknwlFVbvspEhOkQZRPxpWQMKzX5BUhQs3_a01-bFD7uV2ovRclMAs8lXa2T6DAo8xwr-Q98euxUTBHk_VZrbg_32fnI5wl5FCeLFjnZmLxn_9uDoOgGq-D-0KT4ytSW2O9Pk2vrygY_iKIzAQdu377Q-P2Ydm2_uiwKI4oZK_Jd7TQGYEvOOWtXIyEmYDSdqimKeN0KuKegR4s33jDWeNSLnSBUNEfmXKmXEQyLfe",
  "id": "rs_0370765beff4ab05016ab491dfe34887d0b76a32e3998bf618",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_yaw\":1.35,\"right_x\":0.47,\"right_y\":0.21,\"right_z\":0.13},\"note\":\"The first rotation tracked successfully, and the near rim is visible below the bowl centre. I’ll finish aligning the jaw-closing direction across that rim.\"}",
  "call_id": "call_lIhdOwZQO6Wyg7vHQ6mgsHIj",
  "id": "fc_0370765beff4ab05016ab491e0e7e887d0838134bec624cf6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lIhdOwZQO6Wyg7vHQ6mgsHIj",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8477, 1.7218, -1.4879, -0.7559, -1.7447, 0.9958, 0.123, 2.0319, 1.3212, 0.0654, -0.8131, -0.7105, 0.9958]\nstate[eef_state]: left_x=0.3432 left_y=-0.0968 left_z=0.1965 left_yaw=1.0296 left_pitch=-0.2475 left_roll=-0.0696 left_gripper=0.9958 right_x=0.4953 right_y=0.1942 right_z=0.1191 right_yaw=1.1469 right_pitch=0.1336 right_roll=-0.1712 right_gripper=0.9958\nstate[joint_eff]: [-0.253, -8.8684, 5.9145, 0.1636, -0.4225, -0.0708, -0.0122, 0.1026, -12.4923, 7.0632, 1.2821, -0.5739, 0.0269, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:124562a699b468c8c84986b998efe662e293b6a5986ab9c58dcb635ae98ac125",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9364e10ff659afcdf51610c4cf5b512e2de24e19efaf00e30f35ba2d34cf12e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:706ebecb08f5992dc971e33adf15e609e36e4ade08ba6e81d31ee86dc2e9880f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.5021, -0.7567, -1.7443, 0.9958, 0.5701, 2.1757, 0.9508, 0.8268, 0.4824, 0.0113, 0.9958]\nstate[eef_state]: left_x=0.3409 left_y=-0.095 left_z=0.1972 left_yaw=1.0325 left_pitch=-0.2456 left_roll=-0.0565 left_gripper=0.9958 right_x=0.479 right_y=0.214 right_z=0.0314 right_yaw=0.1395 right_pitch=0.2112 right_roll=-0.1515 right_gripper=0.9958\nstate[joint_eff]: [-0.294, -8.7863, 5.6957, 0.1587, -0.4518, -0.0171, -0.0122, -0.4308, -9.0188, 5.8462, 1.2723, 0.0269, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.4963, -0.7563, -1.7447, 0.9958, 0.3363, 1.7798, 0.9329, 0.4519, -0.1719, -0.2642, 0.9953]\nstate[eef_state]: left_x=0.3418 left_y=-0.0957 left_z=0.1971 left_yaw=1.0313 left_pitch=-0.2465 left_roll=-0.0626 left_gripper=0.9958 right_x=0.4679 right_y=0.1994 right_z=0.1327 right_yaw=0.6138 right_pitch=0.1721 right_roll=-0.159 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -8.8, 5.7641, 0.1636, -0.4762, -0.0464, -0.0122, -0.335, -10.8376, 9.2786, 1.9219, -0.1343, 0.0611, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8477, 1.7218, -1.4879, -0.7559, -1.7447, 0.9958, 0.123, 2.0319, 1.3212, 0.0654, -0.8131, -0.7105, 0.9958]\nstate[eef_state]: left_x=0.3432 left_y=-0.0968 left_z=0.1965 left_yaw=1.0296 left_pitch=-0.2475 left_roll=-0.0696 left_gripper=0.9958 right_x=0.4953 right_y=0.1942 right_z=0.1191 right_yaw=1.1469 right_pitch=0.1336 right_roll=-0.1712 right_gripper=0.9958\nstate[joint_eff]: [-0.253, -8.8684, 5.9145, 0.1636, -0.4225, -0.0708, -0.0122, 0.1026, -12.4923, 7.0632, 1.2821, -0.5739, 0.0269, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:124562a699b468c8c84986b998efe662e293b6a5986ab9c58dcb635ae98ac125",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9364e10ff659afcdf51610c4cf5b512e2de24e19efaf00e30f35ba2d34cf12e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:706ebecb08f5992dc971e33adf15e609e36e4ade08ba6e81d31ee86dc2e9880f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJHmyyAzuAq_rZPi6Oj4MgjiUxLE0uPcn1RhjXvurgkBIxXU0ELVfKYYpOwdQSspk202OPR_DMChwGgqewD2S1KVFQ_2pAWG70UdtDhBLbYaBEJxqJz0qgoz32QO_fXQzjFJ-8MkbwWEbAlISO5mIAkdocXWt1KpJF3tcGFfP1KuI4nkiwXdahwbpnM6ifen7ENv9CVe1xMkiRoTT133mcJCPctoMut699hYBGZIzdEcb8OefVFb5WrzxN7iOLlN3B16BleIFWZCKnYo_rkq7zwc9RsT62fuZeguRsDmdaISS110_D_9gkH2_DzAAoZL-AcgclBP7EL5dyhKVFKCx-09rye3Qh71fRiln8kJVuA5oFZkgypf5R0jP1_TiM3umfYi9_sVBNdCafZOaahThfY7MY2wX29nPdVxbPekbalG6rZC4jtA-eIZu8jBeiNp_HyFEWuTxDvlE3LNyw9Pcgnq9PIaf2gp1Hv4T9dpxRcTTUy2JUbnPIKLaZyC_VlUkCxeiT5iDd2YWVbzKYkpOmOZvRIBypmuuirb-10vnpXf74wJYsTZc8xIXW3kJcJrWMA1zMUq-KIAl2WOa_k9zbgeAfeuCtLrf4BOa6i2oVbK5-KQhXme9QPxlEcncmuoGYRsDmS9j47ggmPodgQfyydYTOmrLTYY5C-RbB_GNmxZEhY1aX92j44UMORIC4hhiKKyX3yt6BTr3UdyjCDf2POAF2T1x4RG-xE2xVtVDEpIm1r1XYLLrNlKbKF7FSCui9QQ6xboK6C8Q7Rh_CvtJZNGTU7Ad06eO9R7_VZ_syzIXL5VXYq6Gn7e_vwmQ_wRxdFHDS5T6FBYDAPLXgH061Voo2VLQfS-Hb36tlyxQk63wT6CkvJToA0arSSoNqhybN9nl9Wp1H-5PvD7cCBX9at-RB4rA2OjTArhiygkKGd5qhv6lh8qe2DSOmkVW6biC0WGCdVqthuWi9qmz_k4HgIn4rUXOJC-nhhRkdiYKKUqoqXxjLuslZzXujdhBdwOOVK5W8dMB2rtvZjzUpgzJpd4Yu6CMnyuOjjLT5eV2afIwsQCUP273xHnBrqV3YMgnWXUUaGU-04CWTpVUtwL8jIjFjoVXh4E5G-8mI0RtEpOECtWqI6Wm_qNYAA_5WeNHoQt6jkRNJ2hgFVvx7WE-xCIGDfs1_yAF1Y0907W5zX8fBUc3sbOeLZjsdMr5QrvdgRTM8uNPfANsSe0ykNTCU77BuMzNJoZ3K9cVNqOnwPZBedZbYeKqKDUQFpCYjzAvzQIfUy-N1QPuDGIuRTvohfhI2VYZQCC8t8xegBTD0TdI_utwLMhX82PwWQega2EKf0qtX8pJo6p3T3VNr5_jpBALuWDxEzEr6S_TQaQWh_Y0sqvCxcClntacathXly_9XE35o8PFNNCiNYbeyI6JZBcsBnOhRti9x1gKCUOLHePAPYg2-GX3lLEYAvDusvxKxycsuYWHbz4T6ThtlVnexa9DHwCwyLfNN9u235MHw7TN7YmoMC0f8P4XHEhct7hZgtwB_jYG5BQQq9LjxlecuNEswqlHRJ4IgIImSEhmnX74XeDmJNzfODqUhkC5IiAd6aa0tIicwUJeMuCBeLb7DdcIU2NU4a6_fKIXPFJDGRFYPZPWmZrxQz6plkIG8RssmOdXLj45PvDLkJrSpU0b2zdy7deFLcOnP_hxMx_mikz0FhpkdNtPtLisBjmt8lcxAms",
  "id": "rs_0370765beff4ab05016ab491e3e82887d0850f435be64d4b18",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.215,\"right_z\":0.045,\"right_yaw\":1.5},\"note\":\"The jaws are nearly aligned front-to-back. I’ll lower over the near rim while staying within the table-level reach limit.\"}",
  "call_id": "call_pe4qcHUjGWRB24KM5nWo6wPM",
  "id": "fc_0370765beff4ab05016ab491e5850087d0aa3285d47e38b959",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pe4qcHUjGWRB24KM5nWo6wPM",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8477, 1.7203, -1.4845, -0.7563, -1.7447, 0.9958, 0.1177, 2.0537, 1.3769, -0.1009, -0.9775, -0.8757, 0.9958]\nstate[eef_state]: left_x=0.3435 left_y=-0.097 left_z=0.1961 left_yaw=1.0291 left_pitch=-0.2473 left_roll=-0.0716 left_gripper=0.9958 right_x=0.4705 right_y=0.2067 right_z=0.1208 right_yaw=1.331 right_pitch=0.1581 right_roll=-0.1559 right_gripper=0.9958\nstate[joint_eff]: [-0.2667, -8.8274, 5.7368, 0.1343, -0.4371, -0.0757, -0.0122, 0.0752, -11.3299, 8.0479, 1.3553, -0.5934, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c679d14fa702f5c7099722420d7c7acff59a304c704e1a3dfa9b6fed6f1e16c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f06847ecfb8cc12dae0e6d84655f1b1f89a8b80ecac53771f3bc49e976adbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:647be044f01c5c515a1d1f1260e3a03c439e56737c1774ea493bde87a3e48984",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.4998, -0.7567, -1.7443, 0.9958, 0.5682, 2.1899, 0.9535, 0.8349, 0.4778, 0.0036, 0.0081]\nstate[eef_state]: left_x=0.3413 left_y=-0.0953 left_z=0.1971 left_yaw=1.032 left_pitch=-0.2458 left_roll=-0.0588 left_gripper=0.9958 right_x=0.4796 right_y=0.214 right_z=0.0268 right_yaw=0.146 right_pitch=0.2068 right_roll=-0.1586 right_gripper=0.0081\nstate[joint_eff]: [-0.3214, -8.6906, 5.5726, 0.1343, -0.4518, -0.0513, -0.0122, 0.0615, -11.7538, 4.5744, 1.7509, 0.2027, 0.022, 0.5446]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8477, 1.7218, -1.4879, -0.7559, -1.7447, 0.9958, 0.123, 2.0319, 1.3212, 0.0654, -0.8131, -0.7105, 0.9958]\nstate[eef_state]: left_x=0.3432 left_y=-0.0968 left_z=0.1965 left_yaw=1.0296 left_pitch=-0.2475 left_roll=-0.0696 left_gripper=0.9958 right_x=0.4953 right_y=0.1942 right_z=0.1191 right_yaw=1.1469 right_pitch=0.1336 right_roll=-0.1712 right_gripper=0.9958\nstate[joint_eff]: [-0.253, -8.8684, 5.9145, 0.1636, -0.4225, -0.0708, -0.0122, 0.1026, -12.4923, 7.0632, 1.2821, -0.5739, 0.0269, 0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8477, 1.7203, -1.4845, -0.7563, -1.7447, 0.9958, 0.1177, 2.0537, 1.3769, -0.1009, -0.9775, -0.8757, 0.9958]\nstate[eef_state]: left_x=0.3435 left_y=-0.097 left_z=0.1961 left_yaw=1.0291 left_pitch=-0.2473 left_roll=-0.0716 left_gripper=0.9958 right_x=0.4705 right_y=0.2067 right_z=0.1208 right_yaw=1.331 right_pitch=0.1581 right_roll=-0.1559 right_gripper=0.9958\nstate[joint_eff]: [-0.2667, -8.8274, 5.7368, 0.1343, -0.4371, -0.0757, -0.0122, 0.0752, -11.3299, 8.0479, 1.3553, -0.5934, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c679d14fa702f5c7099722420d7c7acff59a304c704e1a3dfa9b6fed6f1e16c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f06847ecfb8cc12dae0e6d84655f1b1f89a8b80ecac53771f3bc49e976adbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:647be044f01c5c515a1d1f1260e3a03c439e56737c1774ea493bde87a3e48984",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJHuvePfK5DNlvfkE1quYNy-BtnTlc5kG6dabqs1m7yB_I-1aNicCZ4EcjNvpT7IDHG7PZVsfd2mTMsCG-krYfsQIZfybsHFUWLMpUE-otzdQ_gl6vFcnciYjzpf92-CkbWNVvp5vih4p1fPmcMFsTvj7Ktz_puWQRk7nzZXMpeUuu2BeOAAqYxVlWuppAT3rDbgEmOb8t5PwEscbqkSUsVIXY8nGnitBflgmPPPeidw8baFUe8Ih9D9wU7Uwo8b2BbcLqHCXyhzHs9nMG_Fz2WoJX-ThiTT8P0Apo019b7bb51AGP77L2t5cKHU5FOIuEv5ulc9hk41iF2P5WdLYn6Dx6V3R0W9OXwR807f6OGemLFuQJQmkZFdGg8zZ_21rg7HXSOJjkzx_vMVaLMkqw3jdY02-h6EwjYgPpmOYzXjzEVhkTWWt1atLG7-VFr4KedImbpjuVviiEAgBMoEQmuiXIMwgZ951uZpSRfJt3bmsezNj2mv_jN6em02mIs1s5TezOjS8Y4Cc9jk5H7QczB1twcKETwW35OnxiI-LFsmksEi69SmHHIoE-j4p0HApcNM-Gcw9jO3QqJH-zH5GNmwaKLDVPL3J2fWvL9w3mmHuFtqqDBjWJ-doa1DHhWd921TdTCUCGM64nrY7fg26mXXl2PgrKhEmjbKPuiWyhW9URXqPUcM4xJwja_PiXdrnLDiSQBC907T2yrHXMONiAnVDOvh_9991sOIB1BNiuu8ub08c5zonW5pIWQEHt1eSAi0BYSjxGaEOM74VaIzAWJwqRN4HbDUyz73ZdiDhRIdHdWrpcRpsPTf3ve2jTBsrR1plvXPPDApF0-g3_G0CnDLut7YbwiQBSxEnTbwOkZbPXH-NN75aKIuA18nUxzLWYlKDdtw_PjpMyvtQGF7oi2kUEl9O01VxFms_dhXB8UOVtow0ININufjjK3gzzYyTkw5igN_ooA79hjOMdLex-tVbZyOR2FPabLC6IFQIctze9ycR6vhT0YG5HakHAeM7EIyhFEMlEJCuN2wC8tqBbaxh4SIiVEQM-1jUV7tCC8cjQmMKxHzro-WP4rKKJvElQ-v2S1BaJgWAZk23iGpK4Ztmv4R-rzW7LR3ki3vycQ9UvH8DAsxj8XsCdD_IpdmTHSIxnYValKAtQkENEX0yFkl0pWDzw2VaMu2WwAze_qhxsphaeQ_NM-JV16kaQFAAwLB3ds_gpLkcDRgCA4vnITT2rM8eQeDE3_pVua7GOzhKC3bjmIsWfvNUsXIRrB-ImUOawKYRoCkoRsb0qwdjP-QQVA6ZQl7IiC6OQ827grunuY0nLFVCLhpNP5_dP6OjKOgdaeVNo2IQCjcoAmZQ_Mtf81G-gSQHjyHZDhad-eeKjgOzSWun3RlxbllzaPe6xJgPnSzj_hZHYY8BRRqX4wZbED9V77CnLttjTL2_eZYoYfq-rW0YdgHcUYxqmq4DNK0ojhTjGq2DztV9bbBf3TJywlGWLTElO7zdxCYZjPIwBkGn6P6S3EJZpJRHJw1Aw_oOw4YRlL2eJSEvRaOvEPVUUC-18UstXOcxAcNXRdQkXXLRDlDr3Te54Y_S5eogry3MIrR9MTByFExRI-OUTofcVIdrucu8L41uWxY9d0tODJ735CE29gOczc-gu1lQ3WuU3lXsKoIZ_nS8S8Ob3HxD_a7oOMz99ykbWH8OjPpK1q9w8oSWJYmNFXGZy6BGKZlIulaZu8jQTGeArpXdVLiIDjNCva2xWCaFgaTtuuiwjlw-FgeMsnZsufojQwqIlTW6DLyI_5_z69VdBqbc8IjzcwWzmctom3M7ukTzqrUClEdA3J0lpMwOol8KW-cyO-IX-GND8FC2sI8WQArZmSPJ2n_yWdBmUJaF0Mjq_rf-7vH4NOP5nxrP72bersEWJOlDQdUSfqMvLY5jDnX7fVM3r3cyN8mTWl3Ppjmn4e5Eoh5_fNYADHq5dTjppVjfOMkT5fMbSj4KWyq2vLRrDY44CfK5R6K-vU0v1rmSOw48-TJkWuZW_JnuK-SSQBfL4JSyucpGFCSoZrKDqvW8Zh4qIsS5uqA13BQRgEYNUgpbyi_wmxMjMllo8mY-IO8g9naEHUHTUWtb8sV2toxKI2msbL9u_AwZ_Z22F89rN7YhwIZ9-M5Co03FlWyEubmv2KJsxUOXN446odwLVMpDSLkG_5AFwL0NHoW5bdlqNZOKESGKw4MJIqltfTqFTIh3VaHhPZNRMR4N04th6MfQouBksMPcDQ8yOpmZnzsCyLrj3niq0zssjopmfPHRbX6Uc-vvXyfq8LWOdVyVEG3orzTcMGdhCwDUpksBsCdtEDdh7u49DnkP0wGpAMtkjfbbV5ZHnPaZ5jdf8DZte0_Si4ytwM_GxcgBlamnGi0sqo6OgS8fbIykTJuatXZcaRI_SgtyPOPcrpRAFvyWGLPU045HkfeGGeGyxUKlr8pedn5gJYGeDH9nN-j6qe30RiGH5hSZQb-ibbOAcGe3BLfVjAOFvhvkodnvWS_BjpsLrYvGGLpb8GZpCXKd_eMkY0syXUXa3Bm48RraM0WaEo209oCvA==",
  "id": "rs_0370765beff4ab05016ab491e8801487d08458a2ca72480329",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.21,\"right_z\":0.05,\"right_yaw\":1.35,\"right_pitch\":0.55},\"note\":\"The descent stopped well above the rim without contact, indicating a reach limitation. I’ll try a more forward-tilted wrist at a slightly shorter reach rather than forcing the same pose.\"}",
  "call_id": "call_ewPhL7SoLptY1lndsEmOLL94",
  "id": "fc_0370765beff4ab05016ab491ecbd0887d0a6af5c47c78f6af1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ewPhL7SoLptY1lndsEmOLL94",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8477, 1.7203, -1.4799, -0.7559, -1.7447, 0.9958, 0.0902, 2.4596, 1.1713, 1.0966, -1.1603, -0.2737, 0.9958]\nstate[eef_state]: left_x=0.3442 left_y=-0.0975 left_z=0.196 left_yaw=1.028 left_pitch=-0.2481 left_roll=-0.0762 left_gripper=0.9958 right_x=0.4722 right_y=0.209 right_z=0.0333 right_yaw=1.3017 right_pitch=0.4904 right_roll=-0.0834 right_gripper=0.9958\nstate[joint_eff]: [0.0068, -8.6359, 5.6, 0.1783, -0.442, -0.0171, -0.0122, -0.0889, -11.6308, 6.0923, 1.7021, -0.2369, 0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe42aa00e051cb343ee85e0e124f1fd070504399cd692a0e0d2a5f83b8982e68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c63afc18cef4dd00d7fa801f96d58ad84a165aba3e84e005e4988a42d325444",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:180ecb3b41ffa8ba7d4901a4226cb09442307631118d08d990c28f95cb2ca467",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8465, 1.7222, -1.4963, -0.7563, -1.7447, 0.9958, 0.3363, 1.7798, 0.9329, 0.4519, -0.1719, -0.2642, 0.9953]\nstate[eef_state]: left_x=0.3418 left_y=-0.0957 left_z=0.1971 left_yaw=1.0313 left_pitch=-0.2465 left_roll=-0.0626 left_gripper=0.9958 right_x=0.4679 right_y=0.1994 right_z=0.1327 right_yaw=0.6138 right_pitch=0.1721 right_roll=-0.159 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -8.8, 5.7641, 0.1636, -0.4762, -0.0464, -0.0122, -0.335, -10.8376, 9.2786, 1.9219, -0.1343, 0.0611, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8477, 1.7203, -1.4845, -0.7563, -1.7447, 0.9958, 0.1177, 2.0537, 1.3769, -0.1009, -0.9775, -0.8757, 0.9958]\nstate[eef_state]: left_x=0.3435 left_y=-0.097 left_z=0.1961 left_yaw=1.0291 left_pitch=-0.2473 left_roll=-0.0716 left_gripper=0.9958 right_x=0.4705 right_y=0.2067 right_z=0.1208 right_yaw=1.331 right_pitch=0.1581 right_roll=-0.1559 right_gripper=0.9958\nstate[joint_eff]: [-0.2667, -8.8274, 5.7368, 0.1343, -0.4371, -0.0757, -0.0122, 0.0752, -11.3299, 8.0479, 1.3553, -0.5934, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8477, 1.7203, -1.4799, -0.7559, -1.7447, 0.9958, 0.0902, 2.4596, 1.1713, 1.0966, -1.1603, -0.2737, 0.9958]\nstate[eef_state]: left_x=0.3442 left_y=-0.0975 left_z=0.196 left_yaw=1.028 left_pitch=-0.2481 left_roll=-0.0762 left_gripper=0.9958 right_x=0.4722 right_y=0.209 right_z=0.0333 right_yaw=1.3017 right_pitch=0.4904 right_roll=-0.0834 right_gripper=0.9958\nstate[joint_eff]: [0.0068, -8.6359, 5.6, 0.1783, -0.442, -0.0171, -0.0122, -0.0889, -11.6308, 6.0923, 1.7021, -0.2369, 0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe42aa00e051cb343ee85e0e124f1fd070504399cd692a0e0d2a5f83b8982e68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c63afc18cef4dd00d7fa801f96d58ad84a165aba3e84e005e4988a42d325444",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:180ecb3b41ffa8ba7d4901a4226cb09442307631118d08d990c28f95cb2ca467",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJH11z4aQAMrM_QAM_FkHn4fT44tpk1y8_YffokN5Ah3AZNdTVyFKCblecWqCY-dOk0QyxK79xYLzLxFQf7d3VfHbfBGP-OJUis727RbXG3gTXu1s9jOVb89zO8HlNH3Qps_DLQraN49WIqDbCT3uPpIJBA_RT2iYwyTQfP8EbW3u4azP7v6hQFijvqF_ZmQg8HLO9t7A1uqimBXjmzOxT_1tMq8url-I1wsBcca_5M3xUhSwz-RpKuAjJsQtj_ShxHZtTaP1TB7uuwNQqJNAfDIN80Ry3MIuLLCbWWzGg2GSyut-imCHcH2tHdLUQivH3sSGT01fB2pm-rVY9G13ecFQYvUhcDV-IsLBQREiu-5iWL0pwAGZMTUA1ah0UIwBIZEevj2RD3qPI9rO9xqHWFuRtCXrqlm1pLFvXZZwbztEfrExtO4NaJNLZlZJel3j8zLESqaL_E8UB9PTqUQ5EfrW7MFrtUv5Rbo9Y_qV_fLJyEp8iz6kKKU8SGVgaY7FJ51ux0oYJJgVKkym-iNXlf9VyN3PvOki815MRj5PJZqsZ3Vi4hI-9EPQfolZ0spiUuWRLrcur1FtWLY8rvd_1y9ZBtg3oL2OQaq6yK3j3nzJnuIQi8Bqbc9fCwGuFNuTDdOBYA7ZfN8aoUr5uhLGZgA7VuePurh3meYRbMXrmFvLarUc8kdQGeZxu23rfTklVHbYaZOegDiXqL1c5iWaPzI1t2nkElUZEP3Xy5MoK0QBOzhzzIf0F1-lIMrM20Ziafok9OrXEitGJYfIBhPZIQ90LKCc2rXtNVXEiAvnYVdh74fTmu4fYS384ZxZjYYgNnqtIJm-3_7159kLMRJoOA7hfiS2y9XqK2U9u87PpoiwiScnCJMpEc5t86CWub2tH5yyWxTRJl9VeGRi9bC5jRtLhKQATvg2X9mI9q9IMMoT_bCLTbBIi0kyYUvZz0wiO9lPsIA-48Su3TL_UNho6jE7SxpthT0d1IxjE__zCPiGIjTrE-WYEqbx_dnVJEnqsHK37d48tCZc1abg8yEzC4fU6ROOAA8W7tGSNgHiNbzRRGInRWcl1blbwusN5V8G5SQUanmMlJMHkSiHewn-gwYDGtDorXRE1yuk1RpGISPw_PlZVmp8Or_fHYnX1F6ZxKEehL5y5lqCOxjDgapYPHtVYHaEZfJbInfz_llEK5rRTrnT8XQumph5PjTuSRuI1Od0wxcfuUPiSw8ZcfEWNZrIvEC51_jEDEe4oEN3Hze9R9IN2erH_Y1N0_RjVDnAd7_DgMiI_Ul8loYW9eX61-IgBykKqNsOKhQaXp_2CZCq6uwXWt39SdmgfYeYHOe1XPExMVdoZI40IOLGVvjMYsmN2o9OXbWUkXk81Tb0EUewQc84C8-xCIAkj81N5l_h_sBCNVU_0GwshB6Lj6yRktQW4I4NW1pH1Bua0FQ-L5A6tnwioYQaJOEOnPSq2fNv_GK_Q--kGsbcYBm035IWEOIJrJpjjICsuLmEG_ebLJs2kOxNTAFEpzUH6aUOxI4eNZg3e3IpMYsNcI-c5mEaACmJ8wWguzssj0f9b7vnBaLA3WtbQz3czIu-a5DAvg6MIyWLrjWn5I9Ev2l8T4YTOJJIHHJgNdUfZoyeAFJ8uAceUDjc9Ym6QwpSWnfu9HCg2d7REp5Ma8UhIFVImk0ZLo-L2K3Z4Owu7rBZOgwprEJ0TQIfYyHI3RkS15ws03qFNFk9NzbBcNX1uu2s7SL10Cm_WxnY2LaD1jwtb8zCZjOETEcfeK9Ffh8edS1UlmNfxgof6PJ9FaZzC6vCR1TJS8eun5PRxVIRDR12owtiS4ngK7u0e_finXCVUGSuxyUE2nB_B_MHmSVK1bjKPdlhIiR94toiS-aBQQ_RpBk9ZtucRyyqiLOEH9NQ_xf0LEickPJMYAkYNA-VhJ2dytp_Kpw4E5g1IMUXcQfQ2XfvBDL8fpg6HILRkYJjFYMsNSD6-ayi_xaQar3fC0eInbg1E91kwgCiEBb3LxrQVxWpfDMWxgKiYbZYf43hJko-A5zkY8roT23jYStPq4xRipU53jdkFo_BxTkI8_SgwsfCloI6aiMtVChGnQo9l7K-1exTjIb",
  "id": "rs_0370765beff4ab05016ab491f0b6e087d0823c990798608f27",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.08,\"right_z\":0.22,\"right_yaw\":1.3},\"note\":\"The tilted approach pushed the pink bowl toward the far edge instead of capturing it. I’ll withdraw the right arm; continuing would risk knocking the bowl off the table.\"}",
  "call_id": "call_hQAmRy0FeNzVL6wTNabUEATc",
  "id": "fc_0370765beff4ab05016ab491f3b37487d0a26bb7bec789aba3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hQAmRy0FeNzVL6wTNabUEATc",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6323, 1.8477, 1.7203, -1.4784, -0.7563, -1.7447, 0.9958, -0.2733, 1.7096, 1.0859, -0.0418, -1.446, -0.9516, 0.9958]\nstate[eef_state]: left_x=0.3445 left_y=-0.0977 left_z=0.1961 left_yaw=1.0276 left_pitch=-0.2478 left_roll=-0.0778 left_gripper=0.9958 right_x=0.3978 right_y=0.0742 right_z=0.2224 right_yaw=1.358 right_pitch=0.47 right_roll=-0.2985 right_gripper=0.9958\nstate[joint_eff]: [-0.3214, -8.6632, 5.6137, 0.1734, -0.4518, -0.0269, -0.0122, -0.3214, -8.5402, 7.7607, 0.9304, -0.7888, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ef9047f2349bc15c2087330058379c942121ff6d312720e32b3a5797558882a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20957d068c9b82a2412e8c98ec05fce1f938cf11a3a823dffb89705d0a0b0c05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d220fcbcf2443a069141e969b5fbc9f3ea402801c892447ef1ba61501979e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}